A robust tracker with real-time input estimation

A modified input estimation approach for tracking maneuvering target is developed by Feng Xinxi([1]). The equation of increment of acceleration is described as a first order autoagressive process. The increment of acceleration is estimated in real time by the residual of a standard Kalman filter and then is used to codify the target states. It has a nice tracking property for abrupt and high maneuvering target. But for abrupt maneuvering target, because of large residual variation, the acceleration estimate cay be too large at the maneuver spot. In this paper, a robust tracker is developed to reduce the variation of estimated acceleration, It; is proved efficient to use the approach to improve the tracking of abrupt and high maneuvering target.