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For original paper see ibid., vol. 33, no. 3, p. 1030-7 (1997). In IMMIE formulation, an input (cross-track acceleration) estimate is always used at every sample instant, regardless of whether the target is accelerating or not and hence it will degrade performance during constant-speed sections of track. For reducing computational burden and cost, the authors compromised on the accuracies in the estimates of target state vector. The probabilities a/sub n/ are to be found through innovation and so are their covariances in the corresponding Kalman filters. These are chosen arbitrarily as 0.9. The along-track-acceleration inputs which are supposed to be found adaptively using input estimation techniques are also chosen arbitrarily.