| 摘要 |
The invention relates to a method for analyzing a sequence of discrete me asurement values of a sensor, wherein n > 1 polar measurements relating t o an object to be detected are carried out by the sensor, and wherein the po lar measurements are transferred into Cartesian pseudo measurements z m by c onverting the polar measurement values rm and .alpha.m into Cartesian coordi nates and subsequent scaling by means of a suitably calculated scaling facto r ß computed as a function of the distance rm measured, and wherein associat ed pseudo measurement error variance matrices are determined, each comprisin g suitably determined nominal measurement error variances R m 2 in the dista nce direction and C m 2 transversely thereto as a function of the distance r m measured, and wherein a state estimation of the object is carried out in a n estimation device by means of the Cartesian pseudo measurements and the ps eudo measurement error variance matrices, and particularly an estimated vari ance .sigma.cross 2 transversely to the distance direction is determined, wh erein the scaling factor ß is selected large enough such that with the posit ion estimation from n > 1 measurements no systematic error occurs (Fig. 2 ), and wherein the nominal pseudo measuring error variance R m 2 is calculat ed in the distance direction as a function of the nominal pseudo- measuremen t error variance C m 2 transversely thereto, or vice versa such that the var iance .sigma.cross 2 estimated after the processing of n > 1 measurements transversely to the distance direction corresponds on average to the actual variance .sigma.cross 2 of the estimation error estimated after the process ing of these n > 1 measurements transversely to the distance direction.
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