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Hyperbolic Frequency Modulated (HFM) waveforms offer detection performance that is "Doppler insensitive" - relatively unaffected by target range-rate in matched filtering. They have been applied in radar; but more they are particularly useful in sonar where the wideband Doppler insensitivity is especially prized. However, Doppler insensitivity does come hand in hand with a range bias, which would significantly degrade the tracking performance. In this paper, the authors model the range bias as a function of range-rate and system parameters, and then utilize that to calibrate the measurement equation in very precise target tracking.
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