在红外动目标序列图像跟踪过程中，由于目标本身的红外特征具有较大的不可预测性，使A TR系统在目标探测阶段产生大量的虚警讯息。

In the course of tracking IR motive targets, a large number of false alarm signals might appear in the target detection stage of an IR ATR system because of the non-prediction of IR targets signature.

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被动式目标跟踪主要存在两个问题：系统非线性和距离不可观测性。

There are two main problems in bearing-only tracking: system's nonlinearity and inscrutability of the range of target.

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