Use of kinematic constraint in tracking constant speed maneuvering targets

The use of a kinematic constraint as a pseudomeasurement in the tracking of constant speed maneuvering targets is considered in this report. The kinematic constraint provides additional information about the target motion that can be processed as a pseudomeasurement to improve tracking performance. The kinematic constraint for constant speed targets is A - V = 0, where A and V are the target acceleration and velocity vectors, respectively. In previous publications, the measurement equation for processing the kinematic constraint as a pseudomeasurement was derived by a direct application of Taylor's theorem for a first order linearization of that pseudomeasurement equation. A new formulation of the constraint equation that provides significantly better tracking performance than the previous formulation is presented, and the rationale for the new formulation is discussed. The filter using the kinematic constraint for constant speed targets is shown to be unbiased and stochastically stable. Simulated tracking results are given to show the potential for further improving the performance of a track filter through the use of the proposed kinematic constraint. Simulation studies are presented for various data rates, levels of measurement errors, and deviations in speed.