Adaptive smoother-predictors for tracking maneuvering targets

A new approach is presented to solving the problem of maneuvering target tracking. This approach combines maneuver detection and parameter estimation through use of an Adaptive Recursive Least Squares algorithm in U-D form, including a forgetting factor. New self-tuning smoother-predictors are proposed to predict the target trajectory. The behavior of such adaptive predictors is illustrated using real radar measurements.