Abstract: Based on three-dimensional space, a new method for the nonlinear Kalman filter using the radial velocity is presented. The polar coordinates which where observed are converted to the rectilinear coordinates first. Then the nonlinear function of the radial velocity is expanded in a Taylor series around the predicted state estimate. So the standard Kalman filter can be used. Simulation results show that the evaluated error is decreased and the convergent velocity is accelerated when the radial velocity is introduced.

Key words: radar target tracking, Kalman filter, radial velocity