Conversion of Detections in a tracking scenario

In an example called, "Adaptive Tracking of Maneuvering Targets with Managed Radar", the radar is located at the origin of the scenario in which "IsEarthCentered" is false. I would like to simulate a tracking scenario in which a radar is not at the origin of the scenario and "IsEarthCentered" is true. When I ran a simulation with these conditions, the detections seemed to work fine as shown below, but the tracking is way off.

I think I need to convert the detections as shown in an example called, "Convert Detections to objectDetection Format". So, I added some code into "helperAdaptiveTrackingSim.m" of the example, "Adaptive Tracking of Maneuvering Targets with Managed Radar", as shown below. But, it didn't work. How I can set up the "MeasurementParameters" in "objectDetection"? I think I need to set up the "MeasurementParameters" before excecuting the line, "detections = detect(scenario);".

% Collect detections and plot them
    detections = detect(scenario);
    if isempty(detections)
        meas = zeros(0,3);
    else
        dets = [detections{:}];
        meassph = reshape([dets.Measurement],3,[])';
        [x,y,z] = sph2cart(deg2rad(meassph(1)),deg2rad(meassph(2)),meassph(3));
        meas = (detections{1}.MeasurementParameters.Orientation*[x;y;z]+detections{1}.MeasurementParameters.OriginPosition)';

        %%%%%%%%%%%%%%%%%%%%%%% Coordinate conversion by YSC %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
        MP = struct();

        MP.Frame = 'spherical';      
        MP.OriginPosition = [scenario.Platforms{end}.Position(1); scenario.Platforms{end}.Position(2); scenario.Platforms{end}.Position(3)];
        MP.OriginVelocity = [0; 0; 0];
        MP.Orientation = detections{1}.MeasurementParameters.Orientation;
        MP.IsParentToChild = true;
        MP.HasAzimuth = true;
        MP.HasElevation = true;
        MP.HasRange = true;
        MP.HasVelocity = false;

        detections{:} = objectDetection(detections{1}.Time, detections{1}.Measurement, 'MeasurementParameters', MP);
        %%%%%%%%%%%%%%%%%%%%%%%Coordinate conversion by YSC %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

    end
    plotDetection(dtp, meas);
    
% Track and plot tracks
    if isLocked(tracker) || ~isempty(detections)
        [confirmedTracks,tentativeTracks,~,analysisInformation] = tracker(detections, time, detectableTracks);
        %radarposition = [-3107170.70048133 4124927.36295761 3731328.07510190];
        pos = getTrackPositions(confirmedTracks,jobq.PositionSelector);
        %plotTrack(trp,pos+radarposition,string([confirmedTracks.TrackID]));
        plotTrack(trp,pos,string([confirmedTracks.TrackID]));
        
        tracks.confirmedTracks = confirmedTracks;
        tracks.tentativeTracks = tentativeTracks;
        tracks.analysisInformation = analysisInformation;
        tracks.PositionSelector = jobq.PositionSelector;
        posBuffer = [posBuffer; pos]; %#ok<AGROW> %Added by YSC
    end