[1] Skolnik, Introduction to radar system, 3rd ed. New Delhi, India: Tata McGraw Hill, 2001. [2] D. K. Barton and S. A. Leonov, Radar technology encyclopedia. Norwood, MA: Artech house, 1998. [3] M. A. Richards, Fundamentals of Radar Signal Processing, 2nd ed. New York, USA: McGraw-Hill, 2005. [4] S. Challa, M. Morelande, D. Mušicki, and R. Evans, Fundamentals of Object Tracking. New York, USA: Cambridge University Press, 2011. [5] C.-B. Chang and K.-P. Dunn, Applied State Estimation and Association. MA, USA: MIT press, 2016. [6] R. E. Kalman, “A new approach to linear filtering and prediction problems, Journal of basic Engineering, vol. 82, no. 1, pp. 35–45, 1960. [7] M. B. Rhudy, R. A. Salguero, and K. Holappa, “A kalman filtering tutorial for undergraduate students,” International Journal of Computer Science and Engineering Survey, vol. 8, no. 1, pp. 1–18, 2017. [8] S. Haykin, Adaptive Filter Theory, 3rd ed. NJ, USA: Prentice Hall, 1996. [9] H. Khazraj, F. Faria da Silva, and C. L. Bak, “A performance comparison between extended kalman filter and unscented kalman filter in power system dynamic state estimation,” in Proc. of the 51st International Universities Power Engineering Conference, Sep. 2016, pp. 1–6. [10] J. Shen, Y. Liu, S. Wang, and Z. Sun, “Evaluation of unscented kalman filter and extended kalman filter for radar tracking data filtering,” in Proc. of the 2014 European Modelling Symposium, Oct 2014, pp. 190–194. [11] F. Daowang, L. Teng, and H. Z. Tao, “Square-root second-order extended kalman filter and its application in target motion analysis,” IET Radar, Sonar Navigation, vol. 4, no. 3, pp. 329–335, June 2010. [12] S. Julier, J. Uhlmann, and H. F. Durrant-Whyte, “A new method for the nonlinear transformation of means and covariances in filters and estimators,” IEEE Trans. Autom. Control, vol. 45, no. 3, pp. 477–482, March 2000. [13] M. Zarei-Jalalabadi and S. M. Malaek, “Modification of unscented kalman filter using a set of scaling parameters,” IET Signal Proc., vol. 12, no. 4, pp. 471–480, 2018. [14] A. F. Garcia-Fernandez, M. R. Morelande, and J. Grajal, “Truncated unscented kalman filtering,” IEEE Trans. Signal Process., vol. 60, no. 7, pp. 3372–3386, July 2012. [15] I. Arasaratnam and S. Haykin, “Cubature kalman filters,” IEEE Trans. Autom. Control, vol. 54, no. 6, pp. 1254–1269, June 2009. [16] S. Jie, Q. Guoqing, L. Yinya, and S. Andong, “Stochastic convergence analysis of cubature kalman filter with intermittent observations,” J. Syst. Eng. Electron., vol. 29, no. 4, pp. 823–833, Aug 2018. [17] M. He and J. He, “A dynamic enhanced robust cubature kalman filter for the state estimation of an unmanned autonomous helicopter,” IEEE Access, vol. 7, pp. 148 531–148 540, 2019. [18] M. S. Arulampalam, S. Maskell, N. Gordon, and T. Clapp, “A tutorial on particle filters for online nonlinear/non-Gaussian Bayesian tracking,” IEEE Trans. Signal Process., vol. 50, no. 2, pp. 174–188, Feb 2002. [19] F. Gustafsson, “Particle filter theory and practice with positioning applications,” IEEE Aerospace and Electronic Systems Magazine, vol. 25, no. 7, pp. 53–82, July 2010. [20] Y. Xu, K. Xu, J.Wan, Z. Xiong, and Y. Li, “Research on particle filter tracking method based on kalman filter,” in Proc. of the 2018 2nd IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference, May 2018, pp. 1564–1568. [21] A. Farina and S. Pardini, “Survey of radar data-processing techniques in air traffic control and surveillance systems,” in Proc. of IEE conference of Communications, Radar and Signal Processing, vol. 127, no. 3, 1980, pp. 190–204. [22] X. R. Li and V. P. Jilkov, “Survey of maneuvering target tracking: decision-based methods,” in Proc. of SPIE conference on Signal and Data Processing of Small Targets, vol. 4728, 2002, pp. 511 – 534. [23] J. Ru, A. Bashi, and X.-R. Li, “Performance comparison of target maneuver onset detection algorithms,” in Proc. of SPIE conference on Signal and Data Processing of Small Targets, vol. 5428, 2004, pp. 419 – 428. [Online]. Available: https://doi.org/10.1117/12.553360 [24] H. Liu, Z. Zhou, and C. Lu, “Maneuvering detection using multiple parallel CUSUM detector,” Mathematical Problems in Engineering, 2018. [25] K. Ramachandra, Kalman Filtering Techniques for Radar Tracking. NewYork, USA: Marcel Dekker, 2000. [26] Y. Bar-Shalom, X. R. Li, and T. Kirubarajan, Estimation with applications to tracking and navigation: theory algorithms and software. New York, USA: John Wiley & Sons, 2004. [27] Y. Bar-Shalom and K. Birmiwal, “Variable dimension filter for maneuvering target tracking,” IEEE Trans. Aerosp. Electron. Syst., vol. AES-18, no. 5, pp. 621–629, Sep. 1982. [28] J. A. Roecker and C. D. McGillem, “Target tracking in maneuver-centered coordinates,” IEEE Trans. Aerosp. Electron. Syst., vol. 25, no. 6, pp. 836–843, 1989. [29] J. A. Roecker and C. D. McGillem, “Target tracking in maneuver centered coordinates,” in Proc. of the 1988 IEEE National Radar Conference, April 1988, pp. 68–73. [30] T. Kirubarajan and Y. Bar-Shalom, “Kalman filter versus IMM estimator: when do we need the latter?” IEEE Trans. Aerosp. Electron. Syst., vol. 39, no. 4, pp. 1452 1457, Oct 2003. [31] G. Ackerson and K. Fu, “On state estimation in switching environments,” IEEE Trans. Autom. Control, vol. 15, no. 1, pp. 10–17, February 1970. [32] C. B. Chang and M. Athans, “State estimation for discrete systems with switching parameters,” IEEE Trans. Aerosp. Electron. Syst., vol. AES-14, no. 3, pp. 418–425, May 1978. [33] H. A. P. Blom and Y. Bar-Shalom, “The interacting multiple model algorithm for systems with markovian switching coefficients,” IEEE Trans. Autom. Control, vol. 33, no. 8, pp. 780–783, Aug 1988. [34] K. Watanabe and S. G. Tzafestas, “Generalized pseudo-bayes estimation and detection for abruptly changing systems,” J. Intell. Rob. Syst., vol. 7, no. 1, pp. 95–112, Feb 1993. [35] Xiao-Rong Li and Y. Bar-Shalom, “Multiple-model estimation with variable structure,” IEEE Trans. Autom. Control, vol. 41, no. 4, pp. 478–493, April 1996. [36] A. F. Genovese, “The interacting multiple model algorithm for accurate state estimation of maneuvering targets,” Johns Hopkins APL technical digest, vol. 22, no. 4, pp. 614–623, 2001. [37] A. Munir, J. A. Mirza, and A. Q. Khan, “Parameter adjustment in the turn rate models in the interacting multiple model algorithm to track a maneuvering target,” in Proc. of the IEEE International Multi Topic Conference, 2001. Technology for the 21st Century, Dec 2001, pp. 262–266. [38] H. You, X. Jianjuan, and G. Xin, Radar data processing with applications. Singapore: Wiley, 2016. [39] A. Munir and D. P. Atherton, “Maneuvring target tracking using different turn rate models in the interacting multiple model algorithm,” in Proc. of 1995 34th IEEE Conference on Decision and Control, vol. 3, Dec 1995, pp. 2747–2751. [40] H.Wang, T. Kirubarajan, and Y. Bar-Shalom, “Precision large scale air traffic surveillance using IMM assignment estimators,” IEEE Trans. Aerosp. Electron. Syst., vol. 35, no. 1, pp. 255–266, Jan 1999. [41] R. Visina, Y. Bar-Shalom, and P. Willett, “Multiple-model estimators for tracking sharply maneuvering ground targets,” IEEE Trans. Aerosp. Electron. Syst., vol. 54, no. 3, pp. 1404–1414, June 2018. [42] D. F. Bizup and D. E. Brown, “Maneuver detection using the radar range rate measurement,” IEEE Trans. Aerosp. Electron. Syst., vol. 40, no. 1, pp. 330–336, Jan 2004. [43] X. Yuan, C. Han, Z. Duan, and M. Lei, “Adaptive turn rate estimation using range rate measurements,” IEEE Trans. Aerosp. Electron. Syst., vol. 42, no. 4, pp. 1532–1541, October 2006. [44] V. B. Frencl and J. B. R. do Val, “Tracking with range rate measurements: Turn rate estimation and particle filtering,” in Proc. of the 2012 IEEE Radar Conference, May 2012, pp. 0287–0292. [45] L. Zhu and X. Cheng, “High manoeuvre target tracking in coordinated turns,” IET Radar, Sonar Navigation, vol. 9, no. 8, pp. 1078–1087, 2015. [46] V. B. Frencl, J. B. do Val, R. S. Mendes, and Y. C. Zuniga, “Turn rate estimation using range rate measurements for fast manoeuvring tracking,” IET Radar, Sonar Navigation, vol. 11, no. 7, pp. 1099–1107, 2017. [47] J. B. Collins and J. K. Uhlmann, “Efficient gating in data association with multivariate gaussian distributed states,” IEEE Trans. Aerosp. Electron. Syst., vol. 28, no. 3, pp. 909– 916, July 1992. [48] L. D. Stone, R. L. Streit, T. L. Corwin, and K. L. Bell, Bayesian multiple target tracking. Norwood, MA: Artech House, 2013. [49] X. R. Li and Y. Bar-Shalom, “Tracking in clutter with nearest neighbor filters: analysis and performance,” IEEE Trans. Aerosp. Electron. Syst., vol. 32, no. 3, pp. 995–1010, 1996. [50] Y. Bar-Shalom and X. Li, Multitarget-multisensor Tracking: Principles and Techniques. Storrs, CT: YBS, 1995. [51] Y. Bar-Shalom and E. Tse, “Tracking in a cluttered environment with probabilistic data association,” Automatica, vol. 11, no. 5, pp. 451 – 460, 1975. [Online]. Available: http://www.sciencedirect.com/science/article/pii/0005109875900217 [52] L. R. Kenari and M. R. Arvan, “Comparison of nearest neighbor and probabilistic data association methods for non-linear target tracking data association,” in Proc. of the 2014 Second RSI/ISM International Conference on Robotics and Mechatronics, Oct 2014, pp. 047–052. [53] Y. Bar-Shalom, Multitarget-multisensor Tracking: Application and Advances. Storrs, CT: YBS, 1996. [54] E. Maggio and A. Cavallaro, Video Tracking Theory and Practice. West Sussex, UK: John Wiley & Sons, 2011. [55] S. Stergiopoulos, Advanced signal processing handbook: theory and implementation for radar, sonar, and medical imaging real time systems. Florida, USA: CRC press, 2001. [56] D. Reid, “An algorithm for tracking multiple targets,” IEEE Trans. Autom. Control, vol. 24, no. 6, pp. 843–854, December 1979. [57] W. L. Melvin and J. Scheer, Eds., Principles of Modern Radar: Advanced techniques. Institution of Engineering and Technology, 2012. [Online]. Available: https://digital-library.theiet.org/content/books/ra/sbra020e [58] S. S. Blackman, Multiple target tracking with radar applications. Dedham, MA: Artech House, 1986. [59] T. Fortmann, Y. Bar-Shalom, and M. Scheffe, “Sonar tracking of multiple targets using joint probabilistic data association,” IEEE J. Ocean. Eng., vol. 8, no. 3, pp. 173–184, July 1983. [60] B.-S. Yaakov, D. Fred, and H. Jim, “The probabilistic data association filter: estimation in the presence of measurement origin un-certainty,” IEEE Control Syst. Mag., vol. 29, no. 6, pp. 82–100, 2009. [61] D. F. Crouse, Y. Bar-Shalom, P. Willett, and L. Svensson, “The JPDAF in practical systems: computation and snake oil,” in Proc. of SPIE conference on Signal and Data Processing of Small Targets, vol. 7698, 2010, pp. 428 – 442. [Online]. Available: https://doi.org/10.1117/12.848895 [62] R. J. Fitzgerald, “Track biases and coalescence with probabilistic data association,” IEEE Trans. Aerosp. Electron. Syst., vol. AES-21, no. 6, pp. 822–825, Nov 1985. [63] L. Svensson, D. Svensson, and P.Willett, “Set JPDA algorithm for tracking unordered sets of targets,” in Proc. of the 2009 12th International Conference on Information Fusion, July 2009, pp. 1187–1194. [64] L. Svensson, D. Svensson, M. Guerriero, and P. Willett, “Set JPDA filter for multitarget tracking,” IEEE Trans. Signal Process., vol. 59, no. 10, pp. 4677–4691, Oct 2011. [65] Y. Zhu, J. Wang, and S. Liang, “Efficient joint probabilistic data association filter based on kullback–leibler divergence for multi-target tracking,” IET Radar, Sonar Navigation, vol. 11, no. 10, pp. 1540–1548, 2017. [66] D. Mao, A. Xue, D. Peng, and Y. Guo, “An improved IMMJPDA algorithm for tracking multiple maneuvering targets in clutter,” in Proc. of the 2006 6th World Congress on Intelligent Control and Automation, vol. 1. IEEE, 2006, pp. 4317–4320. [67] X. Rong Li and V. P. Jilkov, “Survey of maneuvering target tracking. part I. dynamic models,” IEEE Trans. Aerosp. Electron. Syst., vol. 39, no. 4, pp. 1333–1364, Oct 2003. [68] J. R. Raol, Data fusion mathematics: theory and practice. London, UK: CRC Press, 2016. [69] D. Lerro and Y. Bar-Shalom, “Tracking with debiased consistent converted measurements versus EKF,” IEEE Trans. Aerosp. Electron. Syst., vol. 29, no. 3, pp. 1015–1022, July 1993. [70] Y. Bar-Shalom, Multitarget-multisensor tracking: advanced applications. Norwood, MA: Artech House, 1990. [71] S. V. Bordonaro, P. Willett, and Y. Bar-Shalom, “Unbiased tracking with converted measurements,” in Proc. of the 2012 IEEE Radar Conference, May 2012, pp. 0741–0745. [72] X. R. Li and Y. Bar-Shalom, “Design of an interacting multiple model algorithm for air traffic control tracking,” IEEE Trans. Control Syst. Technol., vol. 1, no. 3, pp. 186–194, Sep. 1993. [73] G. Xie, L. Sun, T. Wen, X. Hei, and F. Qian, “Adaptive transition probability matrix based parallel IMM algorithm,” IEEE Trans. Syst., Man, Cybern., Syst., pp. 1–10, 2019. [74] M. A. Richards, J. A. Scheer, and W. A. Holm, Eds., Principles of Modern Radar: Basic principles. Institution of Engineering and Technology, 2010. [Online]. Available: https://digital-library.theiet.org/content/books/ra/sbra021e [75] X. R. Li and V. P. Jilkov, “A survey of maneuvering target tracking. part III: Measurement models,” in Proc. of SPIE Conference on Signal and Data Processing of Small Targets, San Diego, CA, USA, Jul. 2001. [76] J. S. Duncan, pilot Handbook of aeronautical knowledge. Oklahoma, USA: U.S Department of transportation, 2016. [77] R. A. Best and J. P. Norton, “A new model and efficient tracker for a target with curvilinear motion,” IEEE Trans. Aerosp. Electron. Syst., vol. 33, no. 3, pp. 1030–1037, July 1997. [78] B. Han, H. Huang, L. Lei, C. Huang, and Z. Zhang, “An improved IMM algorithm based on STSRCKF for maneuvering target tracking,” IEEE Access, vol. 7, pp. 57 795– 57 804, 2019. [79] J. Wang, T. Zhang, X. Xu, and Y. Li, “A variational Bayesian based strong tracking interpolatory cubature kalman filter for maneuvering target tracking,” IEEE Access, vol. 6, pp. 52 544–52 560, 2018. [80] X. R. Li, Z. Zhao, and V. P. Jilkov, “Practical measures and test for credibility of an estimator,” in Proc. Of Workshop on Estimation, Tracking, and Fusion - A Tribute to Yaakov Bar-Shalom, 2001, pp. 481–495. [81] M. Eltoukhy, M. O. Ahmad, and M. N. S. Swamy, “An adaptive turn rate estimation for tracking a maneuvering target,” IEEE Access, vol. 8, pp. 94176–94189, 2020. [82] E. Mazor, A. Averbuch, Y. Bar-Shalom, and J. Dayan, “Interacting multiple model methods in target tracking: a survey,” IEEE Trans. Aerosp. Electron. Syst., vol. 34, no. 1, pp. 103–123, Jan 1998. [83] A. Ruina and R. Pratap, introduction to statics and dynamics. Oxford, U: Oxford University Press, 2015. [84] D. S. Pietro, “Relating angular and regular motion variables,” https: //www.khanacademy.org/science/physics/torque-angular-momentum/rotational-kinematics/v/relating-angular-and-regular-motion-variables, November 2019. [85] M. Eltoukhy, M. O. Ahmad, and M. N. S. Swamy, “An improved adaptive interacting multiple model algorithm for tracking a maneuvering target,” submitted for journal publication. [86] H. Kamel and M. Eltoukhy, “Implementation of storing data algorithm for tracking targets using labview,” International journal of advances in engineering and technology, Feb 2017. [87] J. R. Raol, Multi-Sensor Data Fusion with MATLAB, 1st ed. New York, USA: CRC Press, 2009. [88] D. Musicki and M. Morelande, “Gate volume estimation for target tracking,” in Proc. of the International Conference on Information Fusion. Paris, 2004. [89] T. Kirubarajan and Y. Bar-Shalom, “Probabilistic data association techniques for target tracking in clutter,” in Proc. of the IEEE, vol. 92, no. 3, March 2004, pp. 536–557. [90] M. Eltoukhy, H. Kamel, and M. Hassan, “Implementation of a proposed multiple target tracking algorithm using LabVIEW,” International journal of advances in engineering and technology, Sep 2015. [91] M. Eltoukhy, M. O. Ahmad, and M. N. S. Swamy, “A new JPDA algorithm for tracking closely-spaced multiple targets,” submitted for journal publication. [92] B.-N. Vo, M. Mallick, Y. bar shalom, S. Coraluppi, R. III, R. Mahler, and B.-T. Vo, “Multitarget tracking,” Wiley Encyclopedia, pp. 1–25, 09 2015. [93] G. J. McLachlan, “Mahalanobis distance,” Resonance, vol. 4, no. 6, pp. 20–26, 1999.