Comparison of some Kalman filter based methods for manoeuvre tracking and detection

This paper describes general modelling of radar target tracking scenarios. Manoeuvres are modelled using a stochastic continuous-time model. The goal of this paper is twofold: to compare two different choices of velocity coordinates, and to compare two different manoeuvre models leading to pruning and merging of the filter bank respectively. Simulation results indicate that velocity and heading should be used as states. Regarding merging and pruning there seems to be a trade-off between performance at the beginning of the turn and the steady-state accuracy.

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