Puts for ward the modified Kalman filter in polar coordinates,and compensates the affect of the pseudo-acceleration,the maneuvering acceleration and its variance are under adaptive control.

• 提出了极坐标系下的修正卡尔曼滤波器,并对伪加速度的影响进行了补偿,对机动加速度及其方差进行了自适应控制。