An approach to tracking a 3D-target with 2D-radar

Tracking 3D-targets with a 2D-radar is a significant and challenging problem. Motivated by the range-parameterized EKF (RPEKF) algorithm used in the problem of bearing-only tracking, we present a practical solution to solve this problem in this article, i.e., height-parameterized EKF (HPEKF). This method could reduce the fuzzy phenomenon in height information of the target. So we can track 3D-targets with a single 2D-radar in an effective way under some conditions.