Target Tracking with Multiple Radars: Measurement Model and CRLB Analysis

This paper analyzes a target tracking system using multiple radars. The measurement model for each radar 'n' and target 'q' includes: 'Rnq,k' representing radial distance, 'Vn,q,k' denoting radial speed, 'on,qk' representing azimuth within the range [0, 2π], 'on,g,k' representing elevation, and 'dn.gk(Tg,k - tn,k)' calculating the distance in the XY-plane. Equation (4) introduces 'un,q,k', the measurement noise following a zero-mean Gaussian distribution with covariance 'Zn,g,k(Pn,k, sn,g,k) =t, o,., o?n..), where 'sngk' denotes 'blkdiag(o%...' representing the power emitted by radar 'n' to target 'q'. The 'blkdiag( )' operator denotes a block diagonal matrix. 'o%...kin,g,k' and 'o2' represent the Cramer-Rao Lower Bounds for the system.