Target tracking problems subject to kinematic constraints

Filtering problems with kinematic constraints which may arise in target tracking problems are considered. A novel approach which treats kinematic constraints as additional fictitious or pseudomeasurements is proposed. A numerical example is provided to show the technical feasibility of the proposed idea for target tracking problems. This example shows that the proposed method can improve estimation accuracy significantly for velocity and acceleration states in the tracking problem. However, it is noted that the tracking performance may be deteriorated if the constraints do not properly represent the target characteristics and a small R_c is chosen