An adaptive state estimation solution to the maneuvering target problem
Moose, R.
Automatic Control, IEEE Transactions on
Volume 20, Issue 3, Jun 1975 Page(s): 359 - 362
Digital Object Identifier  
Summary: A new approach to tracking a maneuvering target is presented. Modeling the randomly varying target as a semi-Markov process and then incorporating the statistics into the design of an adaptive state estimator produced an estimation scheme that greatly reduced the large bias errors that usually appear when a target makes an unexpected, large-scale maneuver.

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