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• Fig. 1. Position estimate error of the EKF 200 Time (s) Fig. 2. The real target position and estimated target position by the EKF Time (s) Fig. 3. Target velocity estimate error of the EKF Time (s) Fig. 4. The real target velocity and estimated target velocity by the EKF Time (s) Fig. 5. Target acceleration knowledge estimate error of the EKF Time (s) Fig. 6. The real target acceleration knowledge and estimated target acceleration knowledge by the EKF