A Target Trajectory Noise Model for Kalman Trackers

A model is developed for the Kalman tracker to account for stationary trajectory perturbations of a target navigating along a nominal straight-line path. This model is thought to be representative of a certain class of targets and is appropriate for long tracking times associated with surveillance/reconnaissance-type missions. In its simplest form, the model only requires one additional variable in the state equations and is completely characterized by the variance and correlation coefficient of the process.