Owing to the steady-state characteristics of the Kalman filter, it can only track targets with known maneuver values. In this paper, the authors describe an incremental model for maneuver detection and estimation for use in target tracking with the Kalman filter. The approach is similar to the multiple Kalman filter bank, but with a memory of the maneuver condition instead of using a set of pre-assumed maneuver values.
"Incremental model for target maneuver estimation", Proc. SPIE 1481, Signal and Data Processing of Small Targets 1991, (1 August 1991); doi: 10.1117/12.45659; https://doi.org/10.1117/12.45659