Abstract: A new algorithm, weighted “current” model adaptive Kalman filtering algorithm, is suggested. The discrete state equations are extended to a new 3-dimensional spherical coordinate. A weighting factor q is employed to further emphasize the “current” information and to provide more accurate “current” acceleration for “current” model. The comparisons of the new algorithm with those of singer model and “current” model in three channels are conducted through Monte?carlo simulation. The results show that the proposed algorithm not only overcomes the shortcoming of “current” model, but also preserves its advantages and improves its tracking performance. Besides, the new algorithm requires less computations. It is easy for engineering implementation, and so it is very valuable to practical applications.

Key words: filter, adaptive filter, maneuvering target tracking