Patent ID: 8681041

Claim:
An angle-only tracking filter comprising: a target angle discriminant unit configured to receive sensor signal outputs and form angle-only observations of a target relative to an ownship; an ownship navigation filter configured to receive and filter ownship inertial navigation measurements; a model analyzer coupled to the target angle discriminant unit and the ownship navigation filter, the model analyzer configured to receive and analyze the ownship inertial navigation measurements and select an order of target kinematics to be determined; and a target kinematics generator coupled to the target angle discriminant unit, the navigation filter unit, and the model analyzation unit, the target kinematics generator comprising: a first-order filter unit configured to generate a target position from the target angle measurements and the ownship inertial navigation information; a second-order filter unit configured to generate a target velocity from the target angle measurements and the ownship inertial navigation information; and a third-order filter unit configured to generate a target acceleration from the target angle measurements and the ownship inertial navigation information.