Closed-Loop Estimation for Randomly Sampled Measurements in Target Tracking System

Table 2

The estimation covariance and irregular rate in Figure 7.

	The video (frames)		EXrate	IRrate	RMSE2D
	Total	Extracted			The model; here	CV; model	CA; model	Singer; model	Current model I; 𝛼=1/30; 𝛼max=3	Current model II; 𝛼=1/20; 𝛼max=30	Current model III; 𝛼=1/20; 𝛼max=3	IMM
(a)	381	339	88.98%	0.0261	10.72	29.54	16.99	33.76	90.84	11.56	10.14	21.88
(b)	241	188	78.01%	0.0514	12.76	54.16	21.03	51.37	121.0	12.01	13.01	24.51
(c)	221	150	67.87%	0.0711	14.39	66.22	37.25	67.68	144.7	17.30	17.64	29.35
(d)	231	121	52.38%	0.1087	16.69	39.14	20.10	37.94	94.85	13.84	15.82	30.90
(e)	371	107	28.84%	0.2124	23.34	31.01	23.88	27.12	49.61	20.73	20.10	37.43
(f)	211	28	13.27%	0.4635	40.93	69.85	25.92	49.74	73.78	23.14	26.06	38.14