This is the first part of a series of papers that provide a comprehensive and up-to-date survey of the problems and techniques of tracking maneuvering targets in the absence of the so-called measurement-origin uncertainty. It surveys the various mathematical models of target dynamics proposed for maneuvering target tracking, including 2D and 3D maneuver models as well as coordinate-uncoupled generic models for target dynamics. This survey emphasizes the underlying ideas and assumptions of the models. Interrelationships among the models surveyed and insight to the pros and cons of the models are provided. Some material presented here has not appeared elsewhere.

The focus of this paper is on the development of a geometric algorithm as an alternative to the coordinated turn procedures. The fact that the trajectories of maneuvering targets are always smooth, has been exploited to derive an algorithms, which constrains the predicted position of the target to lie on a circle formed by prior measurements. This filter is then used in conjunction with an #-# filter to arrive at a series of filters which are tested on benchmark trajectories. The performances show promising results for the proposed filters.

This is the first part of a comprehensive and up-to-date survey of the techniques for tracking maneuvering targets without addressing the so-called measurement-origin uncertainty. It surveys various mathematical models of target motion/dynamics proposed for maneuvering target tracking, including 2D and 3D maneuver models as well as coordinate-uncoupled generic models for target motion. This survey emphasizes the underlying ideas and assumptions of the models. Interrelationships among models and insight to the pros and cons of models are provided. Some

This paper describes the development of a three dimensional geometrically constrained target tracker. This tracker combines the predictions of a circular prediction algorithm and a constant velocity filter by utilizing the Covariance Intersection. This combined prediction can be updated with the consequent measurement using the linear estimator. The proposed technique is illustrated on a benchmark trajectory including circular and straight line maneuvers.