A new approach to the three-dimensional airborne maneuvering target tracking problem is presented. The method, which combines the correlated acceleration target model of Singer[31 with the adaptive semi-Markov maneuver model of Gholson and Moose [8], leads to a practical real-time tracking algorithm that can be easily implemented on a modern fire-control computer. Preliminary testing with actual radar measurements indicates both improved tracking accuracy and increased filter stability in response to rapid target accelerations in elevation, bearing, and range.
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