CORRECTION OF THE SYSTEMATIC ERROR (BIAS) OCCURRING DURING THE TRANSFORMATION FROM POLAR INTO CARTESIAN COORDINATES IN TRACKING METHODS

摘要

The invention relates to a method for analyzing a sequence of discrete measurement values of a sensor, wherein n 1 polar measurements relating to an object to be detected are carried out by the sensor, and wherein the polar measurements are transferred into Cartesian pseudo measurements zm by converting the polar measurement values rm and αm into Cartesian coordinates and subsequent scaling by means of a suitably calculated scaling factor ß computed as a function of the distance rm measured, and wherein associated pseudo measurement error variance matrices are determined, each comprising suitably determined nominal measurement error variances Rm2 in the distance direction and Cm2 transversely thereto as a function of the distance rm measured, and wherein a state estimation of the object is carried out in an estimation device by means of the Cartesian pseudo measurements and the pseudo measurement error variance matrices, and particularly an estimated variance σcross2 transversely to the distance direction is determined, wherein the scaling factor ß is selected large enough such that with the position estimation from n 1 measurements no systematic error occurs (Fig. 2), and wherein the nominal pseudo measuring error variance Rm2 is calculated in the distance direction as a function of the nominal pseudo- measurement error variance Cm2 transversely thereto, or vice versa such that the variance σcross2 estimated after the processing of n 1 measurements transversely to the distance direction corresponds on average to the actual variance σcross2 of the estimation error estimated after the processing of these n 1 measurements transversely to the distance direction.