More on Gain Adaptive Tracking

Tracking an agile target is made difficult by a multiplicity of possible motion modes. An earlier paper, by Sworder et al. (1993), described how measurements of the spatially extended features of the target can be used to create a tracker that can follow a jinking motion. The earlier algorithm is extended to include discontinuities in the target path. The tracker is only slightly more complex than that for continuous paths. The response of the proposed tracker is shown by example to be superior to both an extended Kalman filter and the earlier gain adaptive tracker. (Author)