Tracking constant speed targets using a kinematic constraint

The tracking of constant speed, maneuvering targets is addressed through the use of a kinematic constraint. The trajectory of any constant speed target must satisfy the kinematic constraint A·V=0, where A and V are the target acceleration and velocity, respectively. The kinematic constraint is included in the filtering process is a pseudomeasurement. The formulation derived for the constraint equation provides significantly better tracking performance than the original formulation. The rationale for formulation given is discussed and the improvement in tracking performance achieved demonstrated through simulation results