State Dependent Difference Riccati Equation based estimation for maneuvering target

Estimation of evading target maneuvers with unknown turning rate is considered. The modeling of the target´s equations of motion takes into account the rotation of the velocity and acceleration vectors as the target maneuvers. Coordinated turn and barrel roll target evasive maneuver are dealt with. The inclusion of the more detailed kinematic behavior of the maneuvering target creates nonlinear equations of motion. The state - position, velocity and acceleration, and the angular rate of the velocity vector are estimated. This is done without inclusion of the angular rate into the state vector, but in separate equation. As the equations of motion are nonlinear the State Dependent Differential-Difference Riccati Equation based estimator (SDDRE) is implemented and compared to the Kalman Filter based on the constant-step acceleration target maneuver model. It is demonstrated via simulations for constant turning rate and barrel roll evading target´s maneuvers that the detailed modeling of the maneuvering target based filter-estimator have improved performance with respect to the Kalman Filter based on the constant-step acceleration target maneuver model.