reference material on 3d tracking

I need some reference material for tracking based on kalman filter in
spherical coordinate system(Range,azimuth,elevation).I have seen models
which can track in 2D(cartesian coordinates).I would be grateful if
someone can give any reference material for 3d tracking(cartesian or
spherical coordinates).

On 25 Jul, 17:09, "Sylvia" <sylvia.za...@gmail.com> wrote:
> I need some reference material for tracking based on kalman filter in
> spherical coordinate system(Range,azimuth,elevation).I have seen models
> which can track in 2D(cartesian coordinates).I would be grateful if
> someone can give any reference material for 3d tracking(cartesian or
> spherical coordinates).

Such questions are treated in Bar-Shalom & al: "Estimation
with application to tracking and navigation", Wiley, 2001.

Rune