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A simple extended Kalman filter has been designed to track targets using outputs from a forward-looking infrared (FLIR) sensor as measurements. It exploits knowledge unused by current correlation trackers Â¿ size, shape, and motion characteristics of target, and atmospheric jitter spectral description Â¿ to yield enhanced performance. In order to track air-to-air missiles at close range, it incorportateson-line adaptation to target shape effects, changing target motion characteristics, and maximum signal intensity. It is shown to possess considerable performance potential for highly maneuverable targets despite background clutter.