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In a recent perspective (Diversity and Distributions, 29, 39–50), '10 variables' were proposed to measure vegetation structure from airborne laser scanning (ALS) for assessing species distributions and habitat suitability. We worry about this list because the variables predominantly represent variation in vegetation height, the vertical variability of vegetation biomass is insufficiently captured, and variables of vegetation cover are ill‐defined or not ecosystem agnostic. We urge for a better defined, more comprehensive and more balanced list, and for assessing which information from ALS point clouds is truly essential to measure the major dimensions of 3D vegetation structure within and across ecosystems and animal habitats. We think that the currently proposed 'list of 10 ALS metrics' is premature and that researchers and stakeholders should be cautious in adopting this list. [ABSTRACT FROM AUTHOR]

This paper investigates the multi-sensor distributed fusion with memory configuration for multi-target automatic tracking (MTAT) in clutter. Aimed at fully addressing the problems of both track origin ambiguity and the strong-correlation among system track and its paired local tracks in the framework, this paper derives an Exact Unified Multisensory Tracks Fusion with Memory (EU-MTFwM) method that fuses the system track with enumerated combinatorial tracks to achieve fusing all sensors' local tracks at once. It deploys track-to-track probabilistic association (T2TPA) and target-existence based track automatic management (TAM) to mitigate track origin ambiguity caused by clutter disturbance and the presence of multiple targets. Additionally, it implements the exact distributed kinematic state estimation (exact DKSE) to remove strong correlation stemming from common historical measurements and process noise. However, as the number of sensors to be fused increases, the proposed EU-MTFwM suffers from the combinatorial explosion. An Implementable Unified Multisensory Tracks Fusion with Memory (IU-MTFwM) method is then derived to sequentially fuse the system track with origin-ambiguous local tracks from multiple sensors one-by-one, providing a unified but computationally efficient alternative to the EU-MTFwM. Furthermore, a novel system track initialization technology is proposed to trigger the multisensory tracks fusion recursion. Numerical results show the proposed two unified methods achieve comparable tracking performance to the centralized fusion benchmark but with significantly reduced communication consumption, and demonstrate intensive improvement over the enhanced state-of-the-art that incorporates our proposed system track initialization into its fusion recursion. [ABSTRACT FROM AUTHOR]

Highlights • Plant functional traits (PFTs) significantly contributed to tree species classification. • Combining PFTs with spectral features and LiDAR metrics yielded the highest classification accuracy. • Equivalent water thickness was the most robust PFTs for the classification. Abstract Plant functional traits have been extensively used to describe, rank and discriminate species according to their variability between species in classical plant taxonomy. However, the utility of plant functional traits for tree species classification from remote sensing data in natural forests has not been clearly established. In this study, we integrated three selected plant functional traits (i.e. equivalent water thickness (Cw), leaf mass per area (Cm) and leaf chlorophyll (Cab)) retrieved from hyperspectral data with hyperspectral derived spectral features and airborne LiDAR derived metrics for mapping five tree species in a natural forest in Germany. Our results showed that when plant functional traits were combined with spectral features and LiDAR metrics, an overall accuracy of 83.7% was obtained, which was statistically significantly higher than using LiDAR (65.1%) or hyperspectral (69.3%) data alone. The results of our study demonstrate that plant functional traits retrieved from hyperspectral data using radiative transfer models can be used in conjunction with hyperspectral features and LiDAR metrics to further improve individual tree species classification in a mixed temperate forest. [ABSTRACT FROM AUTHOR]

Numerous airborne LiDAR-derived metrics have been proposed for classifying tree species. Yet an in-depth ecological and biological understanding of the significance of these metrics for tree species mapping remains largely unexplored. In this paper, we evaluated the performance of 37 frequently used LiDAR metrics derived under leaf-on and leaf-off conditions, respectively, for discriminating six different tree species in a natural forest in Germany. We firstly assessed the correlation between these metrics. Then we applied a Random Forest algorithm to classify the tree species and evaluated the importance of the LiDAR metrics. Finally, we identified the most important LiDAR metrics and tested their robustness and transferability. Our results indicated that about 60% of LiDAR metrics were highly correlated to each other (| r | > 0.7). There was no statistically significant difference in tree species mapping accuracy between the use of leaf-on and leaf-off LiDAR metrics. However, combining leaf-on and leaf-off LiDAR metrics significantly increased the overall accuracy from 58.2% (leaf-on) and 62.0% (leaf-off) to 66.5% as well as the kappa coefficient from 0.47 (leaf-on) and 0.51 (leaf-off) to 0.58. Radiometric features, especially intensity related metrics, provided more consistent and significant contributions than geometric features for tree species discrimination. Specifically, the mean intensity of first-or-single returns as well as the mean value of echo width were identified as the most robust LiDAR metrics for tree species discrimination. These results indicate that metrics derived from airborne LiDAR data, especially radiometric metrics, can aid in discriminating tree species in a mixed temperate forest, and represent candidate metrics for tree species classification and monitoring in Central Europe. [ABSTRACT FROM AUTHOR]

This paper investigates a novel distributed fusion system for target tracking in three dimensional surveillance using multiple asynchronous BO sensors by simultaneously addressing the problems of target mis-detection and clutter disturbance as well as the out-of-sequence (OOS) information fusion. The proposed distributed fusion architecture consists of the local tracking and distributed fusion, wherein, the refined BO measurements output from the local tracking in each BO sensor are transmitted to the fusion center for subsequent distributed fusion. In the local tracking, instead of kinematic state, the target pseudo state is defined and tracked by operating the proposed pseudo state-integrated probabilistic data association (PS-IPDA) algorithm with an approximately linear pseudo state evolution model, resulting in greatly refined BO sensor measurements. In the fusion center, the sequential asynchronous IPDA-general one-step retrodiction update (SAIPDA-GORU) algorithm is proposed to effectively fuse the transmitted origin-unknown OOS refined measurements (OOSRMs) with the central tracks. The SAIPDA-GORU propagates the central track hybrid state to the OOS time by deploying a general one-step retrodiction technique, and mathematically formulates the OOSRMs-to-retrodicted central track association probabilities utilized to facilitate the fusing of currently filtered central track with OOSRMs. Numerical results show that the proposed PS-IPDA algorithm reduces the errors of target bearings measurement by around a half and eliminates more than 60% of the clutter measurements contained in raw detections, saving significant communication bandwidth between local sensors and fusion center. Furthermore, the proposed SAIPDA-GORU method tangibly improves the estimation accuracy and false track discrimination over the existing discarding method, with the potential to be implemented in real-time. [ABSTRACT FROM AUTHOR]

Bearing-only target motion analysis (BO-TMA) by batch processing remains a challenge due to the lack of information on underwater target maneuvering and the nonlinearity of sensor measurements. Traditional batch estimation for BO-TMA is mainly performed based on deterministic algorithms, and studies performed with heuristic algorithms have recently been reported. However, since the two algorithms have their own advantages and disadvantages, interest in a hybrid method that complements the disadvantages and combines the advantages of the two algorithms is increasing. In this study, we proposed Newton–Raphson particle swarm optimization (NRPSO): a hybrid method that combines the Newton–Raphson method and the particle swarm optimization method, which are representative methods that utilize deterministic and heuristic algorithms, respectively. The BO-TMA performance obtained using the proposed NRPSO was tested by varying the measurement noise and number of measurements for three targets with different maneuvers. The results showed that the advantages of both methods were well combined, which improved the performance. [ABSTRACT FROM AUTHOR]

The increased trend toward multisensor target tracking system is driving an interest for distributed tracks fusion algorithm. In such a system, local tracks formed by each sensor may arrive in the fusion center with temporal out-of-sequence because of different sensor data processing time and random communication delay, moreover, the priori information on the origins of tracks to be fused is usually unknown due to clutter disturbance and presence of multitargets. This paper considers the problem of fusing out-of-sequence tracks (OOSTs) with track origin uncertainty in a distributed fusion setup, and proposes a novel all neighbor fusion-integrated forward prediction fusion and decorrelation (ANF-IFPFD) method. The proposed ANF-IFPFD enumerates and probabilistically evaluates all feasible track-to-track association events, and fuses the central tracks with extracted information purely contributed by the local OOSTs through an information decorrelation process. Furthermore, it enables to operate the false track discrimination (FTD) in the fusion center by using the fused probability of target existence as a track quality measure. Additionally, two implementation configurations of the proposed ANF-IFPFD method are also designed to provide a trade-off between the tracking performance and the system communication bandwidth consumption. Monte Carlo simulations are carried out to validate the superiority of the proposed ANF-IFPFD over the enhanced state-of-art methods, in terms of both tracking performance and also computation-storage requirement. Compared to the configuration without any information feedback, the partial information feedback configuration of the ANF-IFPFD method is verified to deliver intensive improvements for both local tracking and tracks fusing. [ABSTRACT FROM AUTHOR]

Target detection and tracking is important in military as well as in civilian applications. In order to detect and track high-speed incoming threats, modern surveillance systems are equipped with multiple sensors to overcome the limitations of single-sensor based tracking systems. This research proposes the use of information from RADAR and Infrared sensors (IR) for tracking and estimating target state dynamics. A new technique is developed for information fusion of the two sensors in a way that enhances performance of the data association algorithm. The measurement acquisition and processing time of these sensors is not the same; consequently the fusion center measurements arrive out of sequence. To ensure the practicality of system, proposed algorithm compensates the Out of Sequence Measurements (OOSMs) in cluttered environment. This is achieved by a novel algorithm which incorporates a retrodiction based approach to compensate the effects of OOSMs in a modified Bayesian technique. The proposed modification includes a new gating strategy to fuse and select measurements from two sensors which originate from the same target. The state estimation performance is evaluated in terms of Root Mean Squared Error (RMSE) for both position and velocity, whereas, track retention statistics are evaluated to gauge the performance of the proposed tracking algorithm. The results clearly show that the proposed technique improves track retention and and false track discrimination (FTD). [ABSTRACT FROM AUTHOR]

In the multiple asynchronous bearing-only (BO) sensors tracking system, there usually exist two main challenges: (1) the presence of clutter measurements and the target misdetection due to imperfect sensing; (2) the out-of-sequence (OOS) arrival of locally transmitted information due to diverse sensor sampling interval or internal processing time or uncertain communication delay. This paper simultaneously addresses the two problems by proposing a novel distributed tracking architecture consisting of the local tracking and central fusion. To get rid of the kinematic state unobservability problem in local tracking for a single BO sensor scenario, we propose a novel local integrated probabilistic data association (LIPDA) method for target measurement state tracking. The proposed approach enables eliminating most of the clutter measurement disturbance with increased target measurement accuracy. In the central tracking, the fusion center uses the proposed distributed IPDA-forward prediction fusion and decorrelation (DIPDA-FPFD) approach to sequentially fuse the OOS information transmitted by each BO sensor. The track management is carried out at local sensor level and also at the fusion center by using the recursively calculated probability of target existence as a track quality measure. The efficiency of the proposed methodology was validated by intensive numerical experiments. [ABSTRACT FROM AUTHOR]

• Combining multi-temporal aerial photographs with LiDAR significantly improved the accuracy of individual tree species mapping. • Texture features captured by multi-temporal digital CIR orthophotos with different view-illuminations were species-specific. • The average gray-level and the dissimilarity of the NIR band contributed most (among texture features) to the classification. Digital colour-infrared (CIR) aerial photographs, which have been collected routinely in many parts of the world, are an invaluable data source for the monitoring and assessment of forest resources. Yet, the potential of these data for automated individual tree species mapping remains largely unexplored. One way to maximize the usefulness of digital CIR aerial photographs for individual tree species mapping is to integrate them with modern and complementary remote sensing technologies such as the light detection and ranging (LiDAR) system and 3D segmentation algorithms. In this study, we examined whether multi-temporal digital CIR orthophotos could be used to further increase the accuracy of airborne LiDAR-based individual tree species mapping for a temperate mixed forest in eastern Germany. Our results showed that the texture features captured by multi-temporal digital CIR orthophotos under different view-illumination conditions were species-specific. As a consequence, combining these texture features with LiDAR metrics significantly improved tree species mapping accuracy (overall accuracy: 77.4%, kappa: 0.68) compared to using LiDAR data alone (overall accuracy: 69.3%, kappa: 0.58). Among various texture features, the average gray level in the near-infrared band was found to contribute most to the classification. Our results suggest that the synergic use of multi-temporal digital aerial photographs and airborne LiDAR data has the potential to accurately classify individual tree species in Central European mixed forests. [ABSTRACT FROM AUTHOR]

The accuracy of X-ray pulsar-based navigation is greatly affected by the Doppler effect caused by the spacecraft orbital motion and the systematic biases introduced by the pulsar directional error, spacecraft-borne clock error, etc. In this paper, an innovative navigation method simultaneously employing the pulse phase (PP), the difference of two neighbor PPs (DPP) and the Doppler frequency (DF) of X-ray pulsars as measurements is proposed to solve this problem. With the aid of the spacecraft orbital dynamics, a single pair of PP and DF relative to the spacecraft's state estimation error can be estimated by using the joint probability density function of the arrival photon timestamps as the likelihood function. The systematic biases involved to the PP is proved to be nearly invariant over two adjacent navigation periods and the major part of it is eliminated in the DPP; therefore, the DPP is also exploited as additional navigation measurement to weaken the impact of systematic biases on navigation accuracy. Results of photon-level simulations show that the navigation accuracy of the proposed method is remarkably better than that of the method only using PP, the method using both PP and DF and the method using both PP and DPP for Earth orbit. [ABSTRACT FROM AUTHOR]

In target tracking environments using over-the-horizon radar (OTHR), one target may generate multiple detections through different signal propagation paths. Trackers need to jointly handle the uncertainties stemming from both measurement origin and measurement path. Traditional multitarget tracking algorithms suffer from high computational loads in such environments since they need to enumerate all possible joint measurement-to-track assignments considering the measurements paths unless they employ some approximations regarding the measurements and their corresponding paths. In this paper, we propose a novel algorithm, named multi-path linear multitarget integrated probabilistic data association (MP-LM-IPDA), to efficiently track multitarget in multiple detection environments. Instead of generating all possible joint assignments, MP-LM-IPDA calculates the modulated clutter measurement density for each measurement cell of each track. The modulated clutter measurement density considers the possibility that the measurement cells originate from the clutter as well as from other potential targets. By incorporating the modulated clutter measurement density, the single target tracking structure can be applied for multitarget tracking, which significantly reduces the computational load. The simulation results demonstrate the effectiveness and efficiency of the proposed algorithm. [ABSTRACT FROM AUTHOR]

Multitarget tracking in clutter using bearings-only measurements is a challenging problem. In this paper, a performance improved nonlinear filter is proposed on the basis of the Random Finite Set (RFS) theory and is named as Gaussian mixture measurements-based cardinality probability hypothesis density (GMMbCPHD) filter. The GMMbCPHD filter enables to address two main issues: measurement-origin-uncertainty and measurement nonlinearity, which constitutes the key problems in bearings-only multitarget tracking in clutter. For the measurement-origin-uncertainty issue, the proposed filter estimates the intensity of RFS of multiple targets as well as propagates the posterior cardinality distribution. For the measurement-origin-nonlinearity issue, the GMMbCPHD approximates the measurement likelihood function using a Gaussian mixture rather than a single Gaussian distribution as used in extended Kalman filter (EKF). The superiority of the proposed GMMbCPHD are validated by comparing with several state-of-the-art algorithms via intensive simulation studies. [ABSTRACT FROM AUTHOR]

Natural materials have irreplaceable advantages in the preparation of in vivo/vitro electronic devices. However, most current fabrication techniques for flexible electronics are not compatible with natural materials due to mechanical and chemical stability issues. In this work, an ink‐jet printing and electrodeposition coupling technique is introduced to fabricate pattern electrodes on silk fibroin and polyurethane (SF‐PU) composite films. The addition of PU can improve the chemical properties of SF film while maintaining its considerable permeability and biocompatibility. Owing to such composite film, different pattern electrodes are successfully printed by ink‐jet printing technology. Subsequently, a layer of nickel (Ni) is electrodeposited on printed electrodes to protect and further enhance the conductivity the electrodes (<0.01 Ω cm−1). Based on these double‐layer pattern electrodes, an integrated protein‐based electronic skin (PPES) is developed for pressure distribution monitoring. This ink‐jet and electrodeposition (IJ‐ED) coupling technique is particularly beneficial to the manufacture of next‐generation in vivo/vitro bioelectronic devices. [ABSTRACT FROM AUTHOR]

This research work extends the fixed interval smoothing based on the joint integrated track splitting (FIsJITS) filter in the multi-maneuvering-targets (MMT) tracking environment. We contribute to tackling unknown dynamics of the multi-maneuvering-targets (MMT) using the standard kinematic model. This work is referred to as smoothing MMT using the JITS (MMT-sJITS). The existing FIsJITS algorithm is computationally more complex to solve for the MMT situation because it enumerates a substantial number of measurement-to-track assignments and calculates their posteriori probabilities globally. The MMT-sJITS updates a current target track by assuming the joint (common) measurements detected by neighbor tracks are modified clutters (or pretended spurious measurements). Thus, target measurement concealed by a joint measurement is optimally estimated based on measurement density of the modified clutter. This reduces computational complexity and provides improved tracking performance. The MMT-sJITS generates forward tracks and backward tracks using the measurements collected by a sensor such as a radar. The forward and backward multi-tracks state predictions are fused to obtain priori smoothing multi-track state prediction, as well as their component existence probabilities. This calculates the smoothing estimate required to compute the forward JITS state estimate, which reinforces the MMT tracking efficiently. Monte Carlo simulation is used to verify best false-track discrimination (FTD) analysis in comparison with existing multi-targets tracking algorithms. [ABSTRACT FROM AUTHOR]

The multi-sonar distributed fusion system has been pervasively deployed to jointly detect and track marine targets. In the realistic scenario, the origin of locally transmitted tracks is uncertain due to clutter disturbance and the presence of multi-target. Moreover, attributed to the different sonar internal processing times and diverse communication delays between sonar and the fusion center, tracks unavoidably arrive in the fusion center with temporal out-of-sequence (OOS), both problems pose significant challenges to the fusion system. Under the distributed fusion framework with memory, this paper proposes a novel multiple forward prediction-integrated equivalent measurement fusion (MFP-IEMF) method, it fuses the multi-lag OOST with track origin uncertainty in an optimal manner and is capable to be implemented in both the synchronous and asynchronous multi-sonar tracks fusion system. Furthermore, a random central track initialization technique is also proposed to detect the randomly born marine target in time via quickly initiating and confirming true tracks. The numerical results show that the proposed algorithm achieves the same optimality as the existing OOS reprocessing method, and delivers substantially improved detection and tracking performance in terms of both ANCTT and estimation accuracy compared to the existing OOST discarding fusion method and the ANF-IFPFD method. [ABSTRACT FROM AUTHOR]

Highlights • Effects of both foliage clumping and woody components are corrected for LAI estimation using terrestrial LiDAR data. • Leaf angle distribution was retrieved for both deciduous and coniferous forests. • Zenith angle is successfully used as a feature in separating leaf from woody components. Abstract Leaf area index (LAI) has frequently been measured in the field using traditional optical methods such as digital hemispherical photography (DHP). However, in the DHP retrieved LAI, there is always contribution of woody components due to the difficulty in distinguishing woody and foliar materials. In addition, the leaf angle distribution which strongly affects the estimation of LAI is either ignored while using the convergent angle 57.5°, or inversed simultaneously with LAI using multiple directions. Terrestrial laser scanning (TLS) provides a 3-dimensional view of the forest canopy, which we used in this study to improve LAI estimation by directly retrieving leaf angle distribution, and subsequently correcting foliage clumping and woody effects. The leaf angle distribution was retrieved by estimating the angle between the leaf normal vectors and the zenith vectors. The clumping index was obtained by using the gap size distribution method, while the woody contribution was evaluated based on an improved point classification between woody and foliar materials. Finally, the gap fraction derived from TLS was converted to effective LAI, and thence to LAI. The study was conducted for 31 forest plots including deciduous, coniferous and mixed plots in Bavarian Forest National Park. The classification accuracy was improved by approximately 10% using our method. Results showed that the clumping caused an underestimation of LAI ranging from 1.2% to 48.0%, while woody contribution led to an overestimation from 3.0% to 31.9% compared to the improved LAI. The combined error ranged from −46.2% to 32.6% of the leaf area index (LAI) measurements. The error was largely dependent on forest types. The clumping index of coniferous plots on average was lower than that of deciduous plots, whereas deciduous plots had a higher woody-to-total area ratio. The proposed method provides a more accurate estimate of LAI by eliminating clumping and woody effects, as well as the effect of leaf angle distribution. [ABSTRACT FROM AUTHOR]

Gap fraction ( P gap ) and vertical gap fraction profile (vertical P gap profile) are important forest structural metrics. Accurate estimation of P gap and vertical P gap profile is therefore critical for many ecological applications, including leaf area index (LAI) mapping, LAI profile estimation and wildlife habitat modelling. Although many studies estimated P gap and vertical P gap profile from airborne LiDAR data, the scan angle was often overlooked and a nadir view assumed. However, the scan angle can be off-nadir and highly variable in the same flight strip or across different flight strips. In this research, the impact of off-nadir scan angle on P gap and vertical P gap profile was evaluated, for several forest types. Airborne LiDAR data from nadir (0°∼7°), small off-nadir (7°∼23°), and large off-nadir (23°∼38°) directions were used to calculate both P gap and vertical P gap profile. Digital hemispherical photographs (DHP) acquired during fieldwork were used as references for validation. Our results show that angular P gap from airborne LiDAR correlates well with angular P gap from DHP ( R 2  = 0.74, 0.87, and 0.67 for nadir, small off-nadir and large off-nadir direction). But underestimation of P gap from LiDAR amplifies at large off-nadir scan angle. By comparing P gap and vertical P gap profiles retrieved from different directions, it is shown that scan angle impact on P gap and vertical P gap profile differs amongst different forest types. The difference is likely to be caused by different leaf angle distribution and canopy architecture in these forest types. Statistical results demonstrate that the scan angle impact is more severe for plots with discontinuous or sparse canopies. These include coniferous plots, and deciduous or mixed plots with between-crown gaps. In these discontinuous plots, P gap and vertical P gap profiles are maximum when observed from nadir direction, and then rapidly decrease with increasing scan angle. The results of this research have many important practical implications. First, it is suggested that large off-nadir scan angle of airborne LiDAR should be avoided to ensure a more accurate P gap and LAI estimation. Second, the angular dependence of vertical P gap profiles observed from airborne LiDAR should be accounted for, in order to improve the retrieval of LAI profiles, and other quantitative canopy structural metrics. This is especially necessary when using multi-temporal datasets in discontinuous forest types. Third, the anisotropy of P gap and vertical P gap profile observed by airborne LiDAR, can potentially help to resolve the anisotropic behavior of canopy reflectance, and refine the inversion of biophysical and biochemical properties from passive multispectral or hyperspectral data. [ABSTRACT FROM AUTHOR]

Separation of foliar and woody materials using remotely sensed data is crucial for the accurate estimation of leaf area index (LAI) and woody biomass across forest stands. In this paper, we present a new method to accurately separate foliar and woody materials using terrestrial LiDAR point clouds obtained from ten test sites in a mixed forest in Bavarian Forest National Park, Germany. Firstly, we applied and compared an adaptive radius near-neighbor search algorithm with a fixed radius near-neighbor search method in order to obtain both radiometric and geometric features derived from terrestrial LiDAR point clouds. Secondly, we used a random forest machine learning algorithm to classify foliar and woody materials and examined the impact of understory and slope on the classification accuracy. An average overall accuracy of 84.4% (Kappa = 0.75) was achieved across all experimental plots. The adaptive radius near-neighbor search method outperformed the fixed radius near-neighbor search method. The classification accuracy was significantly higher when the combination of both radiometric and geometric features was utilized. The analysis showed that increasing slope and understory coverage had a significant negative effect on the overall classification accuracy. Our results suggest that the utilization of the adaptive radius near-neighbor search method coupling both radiometric and geometric features has the potential to accurately discriminate foliar and woody materials from terrestrial LiDAR data in a mixed natural forest. [ABSTRACT FROM AUTHOR]

A localization and tracking algorithm for an early-warning tracking system based on the information fusion of Infrared (IR) sensor and Laser Detection and Ranging (LADAR) is proposed. The proposed Kalman filter scheme incorporates Out-of-Sequence Measurements (OOSMs) to address long-range, high-speed incoming targets to be tracked by networked Remote Observation Sites (ROS) in cluttered environments. The Rauch–Tung–Striebel (RTS) fixed lag smoothing algorithm is employed in the proposed technique to further improve tracking accuracy, which, in turn, is used for target profiling and efficient filter initialization at the targeted platform. This efficient initialization increases the probability of target engagement by increasing the distance at which it can be effectively engaged. The increased target engagement range also reduces risk of any damage from debris of the engaged target. Performance of the proposed target localization algorithm with OOSM and RTS smoothing is evaluated in terms of root mean square error (RMSE) for both position and velocity, which accurately depicts the improved performance of the proposed algorithm in comparison with existing retrodiction-based OOSM filtering algorithms. The effects of assisted target state initialization at the targeted platform are also evaluated in terms of Time to Impact (TTI) and true track retention, which also depict the advantage of the proposed strategy. [ABSTRACT FROM AUTHOR]