Tracking of a moving object

A computer program product, comprising:

• a computer readable medium;
• and
• computer program instructions recorded on the computer readable medium and executable by a processor for carrying out a method comprising
• receiving angular data for the moving object at a plurality of observation times;
• determining a first kinematic state of the moving object based on the angular data at a first observation time;
• determining a predicted kinematic state of the moving object based on a kinematic model of the moving object and at least one previously determined kinematic state of the moving object;
• determining a subsequent kinematic state of the moving object at a subsequent observation time based on the predicted kinematic state of the moving object and the angular data for the moving object, wherein the kinematic model comprises an assumption that the moving object follows a guidance law navigating the moving object to a known position;
• determining whether the moving object is moving toward the known position;
• and
• generating a warning that the moving object is moving toward the known position if it is determined that the moving object is moving toward the known position.

A system for determining kinematics of a moving object, the system comprising:

• a sensor configured to produce angular data for the moving object at a plurality of observation times;
• a state initialization unit configured to receive the angular data from the sensor and on basis thereof determining a first kinematic state of the moving object;
• and
• a tracking filter comprising a prediction unit and configured to determine a predicted kinematic state of the moving object based on a kinematic model of the moving object and at least one previously determined kinematic state of the moving object, and comprising a state updating unit configured to receive angular data from the sensor and the predicted kinematic state of the object, and on a basis thereof determining an updated kinematic state of the object,
• wherein the kinematic model comprises a guidance law navigating the moving object to a known position.

A system for determining kinematics of a moving object in an aircraft for passive determination of the kinematics of a missile, the system comprising:

• a sensor configured to produce angular data for the object at a number of observation times;
• a state initialization unit configured to receive angular data from the sensor and on a basis thereof determine a first kinematic state of the moving object;
• and
• a tracking filter comprising a prediction unit and configured to determine a predicted kinematic state of the moving object based on a kinematic model of the moving object and at least one previously determined kinematic state of the moving object, and comprising a state updating unit configured to receive angular data from the sensor and the predicted kinematic state of the object, and on a basis thereof determining an updated kinematic state of the object,
• wherein the kinematic model comprises a guidance law navigating the moving object to a known position.