Mixed coordinate tracking of generalized maneuvering targets using acceleration and jerk models

In a recent paper the authors introduced an all-Cartesian formulation of a jerk model for tracking highly maneuvering targets. Here a more complex but realistic case is considered, where target motion modeling and tracking are carried out in the 3-D Cartesian frame using measurements obtained in a spherical system. The transformation of the measurements into the Cartesian system results in nonlinear measurement equations. We solve the problem using an extended Kalman filter (EKF) approach, and also treat the earlier acceleration model similarly for comparison of results