Abstract: In a method for determining the kinematic state of an object by evaluating a sequence of discrete polar measured values of a sensor, the polar measurements rm, ?m are converted to Cartesian coordinates and subsequently scaled to Cartesian pseudo-measurements using a scaling factor ? calculated as a function of measured range rm. Associated pseudo-measurement error variance matrices are determined, each comprising nominal measurement error variances in the range direction R2m and transversely thereto C2m as a function of the measured range rm. The state of the object is estimated, with an estimated variance {circumflex over (?)}2cross being determined transversely with respect to the range direction in an estimation device, based on the Cartesian pseudo-measurements and the pseudo-measurement error variance matrices.

Abstract: In a method for determining the kinematic state of an object by evaluating a sequence of discrete polar measured values of a sensor, the polar measurements rm, ?m are converted to Cartesian coordinates and subsequently scaled to Cartesian pseudo-measurements using a scaling factor ? calculated as a function of measured range rm. Associated pseudo-measurement error variance matrices are determined, each comprising nominal measurement error variances in the range direction R2m and transversely thereto C2m as a function of the measured range rm. The state of the object is estimated, with an estimated variance {circumflex over (?)}2cross being determined transversely with respect to the range direction in an estimation device, based on the Cartesian pseudo-measurements and the pseudo-measurement error variance matrices.