Pre-observation overall fusion tracking method for Doppler measurement

The invention discloses a pre-observation overall fusion tracking method for Doppler measurement, and relates to the technical field of Doppler radar target tracking. The method specifically comprises the following steps: obtaining target states and covariances of a uniform linear motion model and a uniform acceleration linear motion model under a Cartesian coordinate system, and carrying out one-step prediction; measuring prediction and covariance are calculated through one-step prediction of target states and covariance of the obtained uniform-speed linear motion model and the obtained uniform-acceleration linear motion model; obtaining a Doppler radar measurement value, converting the Doppler radar measurement value to a Cartesian coordinate, and calculating a measurement conversion error covariance; finishing updating of a target tracking state and a covariance at the current moment through weighted least square method linear fusion in a uniform-speed linear motion model and a uniform-acceleration linear