USE OF A KINEMATIC CONSTRAINT IN TRACKING CONSTANT-SPEED, MANEUVERINGTARGETS

The use of a kinematic constraint as a pseudomeasurement in the tracki ng of constant speed, maneuvering targets is considered in this note. The kinematic constraint provides additional information about the tar get motion that can be processed to improve tracking performance. A ne w formulation of the constraint equation is presented, and the rationa le for the new formulation is discussed. The filter using the kinemati c constraint as a pseudomeasurement is shown to be unbiased and suffic ient conditions for stochastic stability of the filter are given. Simu lated tracking results are given to demonstrate the potential that the new formulation provides for improving tracking performance.