Radar track initialization

A sensor comprising:

• a transceiver configured to transmit and receive signals to collect measurement data;
• and
• a signal processor configured to receive the measurement data from the transceiver, said signal processor configured to:
• detect a target within a field of view, the target having a detected range, radial velocity and azimuth position based upon the measurement data;
• initialize values of a Kalman filter upon initial detection of the target based upon the detected range, radial velocity and azimuth;
• generate an azimuth value and estimated azimuth rate value of the target;
• determine a first estimated error value associated with the azimuth value and a second estimated error value associated with the estimated azimuth rate value based upon the detected azimuth value;
• estimate a cross track error based upon the first and second estimated errors;
• in response to the estimated cross track error value being lower than a predetermined threshold value, reinitialize the values of the Kalman filter;
• and
• establish a radar track based upon the reinitialized values of the Kalman filter.