Infrared Fast-Maneuvering Target Tracking Based on Robust Exact Differentiator with Improved Particle Filter

Algorithm 1

Calculating the center of newly generated particles by the proposed method.

	Inputs:
	Outputs:
(1)	Initialization: declare and initialize variables .
(2)	Declare differentiator parameters and filter parameters , , , , and , Lipschitz constants , , and the covariance matrices and .
(3)	while not convergent do
(4)	if then {Case 1 KF}
(5)	According to (10)-(14), update , , , , and in sequence based on the constant acceleration model in (6)
(6)	else {Case 2 RED}
(7)
(8)
(9)
(10)
(11)
(12)
(13)	Integrate variables , , , , , and over to obtain
(14)	end if
(15)	Check the convergence conditions:
(16)	end while