Some Remarks on Velocity-Aided Kalman Filtering
Clive L. Dym, Robert Turner · IEEE Transactions on Aerospace and Electronic Systems · 1971
This paper extends recent work of Nishimura to consider velocity-aided Kalman filtering for one-dimensional motion under random acceleration. It is shown through examination of the steady-state solution and the transient time constants that estimates incorporating velocity observations can be significantly improved over estimates based on range data alone.