A nonlinear model for tracking turning targets

This paper defines a nonlinear kinematic model designed for tracking air vehicles undergoing helicaltype motions, of which turning in the same plane forms a special case. For tracking purposes, a ninestate nonlinear Unscented Kalman Filter is demonstrated, using the process noise methods introduced in P. Easthope. On the treatment of process noise in the unscented kalman Filter. Studia z Automatyki i Informatyki, 42:7–17, 2017.