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A new model for targets moving in two dimensions is presented. Target motion is modelled as constant velocity with occasional along-track and cross-track acceleration inputs. Simulations show that a tracker based on this new model produces estimates superior to both the variable-dimension filter (VDF) and the circular-turn-based interacting multiple-model (IMM) tracker, By using nested multiple models, a modified tracker is created which has considerable computational savings compared with a standard IMM tracker.
Best et al. (Tue,) studied this question.