Nonparametric maneuver detection in Kalman filtering

A nonparametric maneuver detector is implemented in a Kalman filter to enhance the capability of tracking maneuvering targets. Maneuver detection is done independently in both x- and y-coordinates and appropriate corrections are made to the error covariance matrix. A comparison is made between the nonparametric maneuver detector and a standard maneuver detector which uses the Mahalanobis distance.