Use of a kinematic constraint in tracking constant speed, maneuvering targets

The use of a kinematic constraint as a pseudomeasurement in the tracking of constant speed, maneuvering targets is considered. A novel formulation of the constraint equation is presented and the rationale for this formulation is discussed. The filter using the kinematic constraint as a pseudomeasurement is shown to be unbiased, and sufficient conditions for stochastic stability of the filter are given. Simulation results indicate that the use of the novel formulation of the kinematic constraint improves the tracking of constant speed, maneuvering targets.<
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