A computerized method generates unbiased estimates of parameters such as
position, velocity, and acceleration of a vehicle. The method assigns
initial vehicle states. Unbiased vehicle state estimates are obtained
using a model incorporating a unique parameterization of the vehicle
motion and state dynamics, and sensor registration bias states. Sensor
measurements of the vehicle are used to iteratively update the vehicle
states and covariances. Previous vehicle state and covariance, are
propagated to produce current state and covariance estimates. If needed,
a new vehicle model is adopted. Sensor registration biases are estimated
to generate corrected measurement information. A measurement matrix and a
measurement residual is determined. The Kalman gain matrix is determined,
and used with measurement residual for state update. A new current state
is generated. State covariance update is determined the same way, and
used to generate a new current state covariance. These steps are
repeated, producing unbiased vehicle parameter estimates.