Prediction and retrodiction algorithms for path-constrained targets

This paper presents algorithms for prediction and retrodiction of targets whose motion is constrained by external conditions (e.g., shipping lanes, roads). The targets are moving along paths defined by waypoints and segments. Measurements are obtained by sensors (e.g., spaceborne) at low revisit rates. Existing tracking algorithms assume that the targets follow the same motion model between successive measurements, but in a low revisit rate …