What is the name for a constant-heading Kalman filter model for vehicle tracking? When applying Kalman filtering to estimate the position of a car, there are several different vehicle dynamics models that you could use.
One of the simplest is &quot;constant velocity&quot; or CV, which uses the state
$$
\mathbf x = [x, y, v_x, v_y]
$$
A more sophisticated model is &quot;constant turn rate and velocity&quot; or CTRV, which uses the state
$$
\mathbf x = [x, y, \theta, v, \omega]
$$
My coworker has implemented an algorithm that's somewhere in between these two, and I'm wondering what to call it. It uses the state
$$
\mathbf x = [x, y, \theta, v]
$$
I would expect that this model is called &quot;constant heading and velocity&quot; or &quot;constant bearing and velocity&quot; or similar but I haven't found any papers describing it.
Is there a name in the literature for this model?
I think the magic acronym is CHCV, &quot;constant heading constant velocity&quot;. This returns at least a few results on Google.