The /spl alpha/-/spl beta/-/spl eta/-/spl theta/ tracker with a random acceleration process noise

Time has proven that /spl alpha/-/spl beta/ filters provide a good and useful tracking methodology when used with sensors that measure position only. As new sensors are being integrated into platforms that measure position and Doppler velocity, a new tracker is required to properly process both position and velocity sensor measurements. This article introduces an /spl alpha/-/spl beta/-/spl eta/-/spl theta/ filter, which processes both position and velocity sensor measurements. This new filter optimally tracks objects having a random acceleration maneuver model while being updated from a sensor having position and velocity measurement estimates.