Target Tracking with Airborne Radar Networks: Measurement Model and CRLB Analysis

This paper analyzes the measurement model and Cramer-Rao Lower Bound (CRLB) for target tracking using a network of airborne radars. The model incorporates the radial distance and speed from target q to radar n, denoted as 'Rnq,k' and 'Vn,q,k', respectively. The azimuth and elevation angles are represented as '0n,qk' and '0n,g,k0', respectively. The distance from target q to radar n in the XY-plane is denoted as 'dn.gk(Tg,k - tn,k)'. The measurement noise 'un,q,k' is assumed to follow a zero-mean Gaussian distribution with covariance 'Zn,g,k(Pn,k, sn,g,k) =t, o,., o?n..), where 'sngk' represents the power emitted by radar n to target q. The notation 'blkdiag( )' refers to a block diagonal operator. 'o%...kin,g,k' and 'o2' denote the Cramer-Rao lower bounds, where 'o' is a proportional operator. 'Kn,q,k' represents the radar cross-section (RCS) of target q with respect to airborne radar n. 'Pn,q,k', 'Tn,g,k03dp' and 'p3dp' represent the signal effective bandwidth, dwell time, 3dB receive beamwidth in azimuth and elevation, respectively.