| 摘要 |
In a method for determining the kinematic state of an object by evaluating a sequence of discrete polar measured values of a sensor, the polar measurements rm, αm are converted to Cartesian coordinates and subsequently scaled to Cartesian pseudo-measurements using a scaling factor &bgr; calculated as a function of measured range rm. Associated pseudo-measurement error variance matrices are determined, each comprising nominal measurement error variances in the range direction R2m and transversely thereto C2m as a function of the measured range rm. The state of the object is estimated, with an estimated variance {circumflex over (&sgr;)}2cross being determined transversely with respect to the range direction in an estimation device, based on the Cartesian pseudo-measurements and the pseudo-measurement error variance matrices. The scaling factor &bgr; is chosen such that no systematic error results for a position estimate comprising n>1 measurements; and the nominal pseudo-measurement error variance R2m in the range direction is calculated as a function of the nominal pseudo-measurement error variance C2m transversely thereto or conversely such that the variance {circumflex over (&sgr;)}2cross which is estimated after processing of n>1 measurements, transversely with respect to the range direction, on average matches the actual variance {circumflex over (&sgr;)}2cross of the estimated error transversely with respect to the range direction.
|
