Keywords Particle Kinematics,Centrifugal Acceleration,Bearings changing rate,Passive Location,Kalman Filtering,Maneuvering Target Tracking,Observability,Doppler Shift Frequency;

• 质点运动学;离心加速度;角度变化率;无源定位;卡尔曼滤波;机动目标跟踪;可观测性;多普勒频率;