Two-Stage Alpha-Beta-Gamma-Lambda Estimator For Tracking Constant Speed, Maneuvering Targets

The two-stage Alpha-Beta-Gamma-Lambda estimator is proposed as an alternative to adaptive gain versions of the Alpha-Beta and Alpha-Beta-Gamma filters for tracking constant speed, maneuvering targets. This two-stage estimator is the two-stage Alpha-Beta-Gamma estimator with the kinematic constraint for constant speed targets included in the second stage. The purpose of this paper is to accomplish constant gain, variable dimension filtering for constant speed, maneuvering targets with the two-stage Alpha-Beta-Gamma-Lambda estimator which is derived from a two-stage Kalman estimator. A procedure for filter parameter selection is also given along with a technique for maneuver response. Simulation results are given to demonstrate the benefits of including the kinematic constraint.