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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.
Ming-jiu et al. (Tue,) studied this question.