Maneuvering target state estimation based on separate model-ing of target trajectory shape and dynamic characteristics

The state estimation of a maneuvering target,of which the trajectory shape is independent on dynamic charac-teristics,is studied.The conventional motion models in Carte-sian coordinates imply that the trajectory of a target is com-pletely determined by its dynamic characteristics.However,this is not true in the applications of road-target,sea-route-target or flight route-target tracking,where target trajectory shape is uncoupled with target velocity properties.In this paper,a new estimation algorithm based on separate modeling of target tra-jectory shape and dynamic characteristics is proposed.The tra-jectory of a target over a sliding window is described by a linear function of the arc length.To determine the unknown target tra-jectory,an augmented system is derived by denoting the unknown coefficients of the function as states in mileage coordi-nates.At every estimation cycle except the first one,the interac-tion(mixing)stage of the proposed algorithm starts from the late-st estimated base state and a recalculated parameter vector,which is determined by the least squares(LS).Numerical experi-ments are conducted to assess the performance of the pro-posed algorithm.Simulation results show that the proposed algorithm can achieve better performance than the conventional coupled model-based algorithms in the presence of target maneuvers.