Constant speed prediction for maneuvering targets using a three dimensional turning rate

Existing algorithms for constant speed prediction restrict the prediction to the horizontal or vertical planes or require the prediction to be computed in a target oriented reference frame. A prediction algorithm that utilizes the output of a linear state estimator to accomplish constant speed prediction is presented. This prediction algorithm uses a 3D turning rate during the prediction process that can be used to predict a 3D trajectory in a reference frame with arbitrary position and orientation relative to the target. The turning rate is calculated from target state estimates using the assumption of a constant speed target. The constant speed predictor, when compared with the constant, linear acceleration predictor, provides improved performance for constant speed, maneuvering targets. Results comparing the predictors are presented for weaving and various circular-type targets. The superior prediction performance of the predictor is demonstrated for these targets