The system state vector consists of three parameters describing translation of the target, another three for orientation and an additional six for the velocities:

where , and represent roll, pitch and yaw angles [3]. The following piecewise constant white acceleration model is considered [1]:

where is a zero-mean white acceleration sequence, is the measurement noise and

(3) |

For the prediction and update, the filter is used:

Here, the pose of the target is used as measurement rather than image features, as commonly used in the literature (see, for example, [4], [7]). An approach similar to the one presented here is taken in [18]. This approach simplifies the structure of the filter which facilitates a computationally more efficient implementation. In particular, the dimension of the matrix