Unbiased measurement model conversion for tracking with multiple radars or sonars

When tracking with multiple radars or sonars in Cartesian coordinates, the errors of converted measurements are correlated across radar or sonar stations due to their dependency on the state. In this paper, this cross-correlation is fully considered and a closed form of the cross-covariance across radars or sonars is presented for both 2D and 3D Cartesian coordinates. Two relative estimation performance evaluation metrics are then adopted to illustrate the performance of our results. The simulations show that our results outperform the original unbiased conversion in most cases.