This study presents an adaptation of a novel estimation methodology to the general nonlinear three-dimensional problem of tracking a maneuvering target. The two-step optimal estimator (TSE) suggests an attractive alternative to the standard extended Kalman filter (EKF). A superior performance is accomplished by dividing the estimation problem into steps - a linear first step and a nonlinear second step. The target tracking performance of the TSE is shown to be better than an EKF implemented in either inertial or modified spherical coordinates.
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