An adaptive state estimation solution to the maneuvering target problem
Richard L. Moose · IEEE Transactions on Automatic Control · 1975
A new approach to tracking a maneuvering target is presented. Modeling the randomly varying target as a semi-Markov process and then incorporating the statistics into the design of an adaptive state estimator produced an estimation scheme that greatly reduced the large bias errors that usually appear when a target makes an unexpected, large-scale maneuver.