Method of estimating a constrained zonotope enclosing a state representing motion of at least one mobile target governed by a nonlinear model

Method comprising:

• a) linearizing a nonlinear transition model at an element of a first constrained zonotope enclosing a motion state of at least one mobile target at a first moment, so as to produce a linear transition model,
• b) computing transition linearization errors at different elements of the first constrained zonotope, wherein the transition linearization errors comprise a transition linearization error at a given element of the first constrained zonotope being a difference between an output resulting from applying the nonlinear transition model to the given element and an output resulting from applying the linear transition model to the given element,
• c) computing a second constrained zonotope that contains all the linearization errors,
• d) propagating the first constrained zonotope so as to obtain an a priori constrained zonotope enclosing the motion state at a second moment after the first moment, wherein the a priori constrained zonotope is a linear projection of a hypercube, the hypercube being subject to at least one linear constraint, and wherein propagating the first constrained zonotope comprises:
• applying the linear transition model to the first constrained zonotope so as to produce a third constrained zonotope, and
• summing the second constrained zonotope and the third constrained zonotope,
• e) updating the a priori constrained zonotope so as to obtain an a posteriori constrained zonotope enclosing the motion state at the second moment, wherein updating the a priori constrained zonotope comprises applying an observation model to the a priori constrained zonotope and to observation data of the mobile target acquired by at least one sensor.