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提出一种在混合坐标下完成状态估计的广义交互加速度补偿算法，并且考虑到多普勒雷达提供距变率量测的情况下，通过改变极坐标下量测方程，使估计精度进一步提高．
In this paper, a generalized acceleration compensation algorithm based on state estimation under mixed coordinates is proposed, and the estimation accuracy is further improved by changing the measurement equation under polar coordinates considering that Doppler radar provides the measurement of distance variation.