4Singer R A. Estimating optimal tracking filter per- formance for manned maneuvering targets [ J ]. IEEE Transactions on Aerospace and Electronic Systems, 1970, 6(4) :473-483.
5X Rong Li, Vesselin P. Survey of Maneuvering Target Tracking. Part I: Dynamic Models [ J ]. IEEE Transactions on Aerospace and Electronic Systems, 2003, 39 (4) : 1333-1364.