Knowledge of the process noise covariance matrix is essential for the application of Kalman filtering. However, it is usually a difficult task to obtain an explicit expression of for large time varying systems. This paper looks at an adaptive

The extended Kalman filter (EKF) has been widely used as a nonlinear filtering method for radar tracking problems. However, it has been found that in case cross-range measurement errors of the target position are large, the performance of the