Variable γ H∞ filter for a maneuvering target tracking using acceleration estimate

Kalman filter and its applications have been employed for tracking system. Non-maneuvering target can be accurately tracked by using a Kalman filter with a constant velocity model. However, a maneuvering target might be mis-tracked since prediction errors increase significantly. The H∞ filter is the robust filter and changes its characteristics depending on the parameter γ. In order to track accurately not only non-maneuvering but also highly maneuvering target, we propose a variable γ H∞ filter with an acceleration term when a maneuver is detected.