Adaptive tracking of maneuvering targets
James S. Demetry, Harold A. Titus · IEEE Transactions on Automatic Control · 1968
A means is suggested heuristically by which Kalman sequential estimation can be made adaptive to target maneuvers without the sacrifice of tracking accuracy in the nonmaneuvering portions of a trajectory. The adaptation requires backsliding in the gain schedule and reprocessing of the most recent several measurements. These steps are initiated by a maneuver detector which senses a buildup of bias in the filter's estimates.