Hybrid models have proven useful for tracking targets with multiple motion modes. Most emphasis in the literature has been devoted to
aircraft which transition from constant velocity motion to constant (or nearly constant) turns and back. Ground targets motions have
received less attention despite similarities with aircraft. This paper presents a study of the ground-tracking problem using the
Gaussian wavelet estimator as the basic algorithm. The sensor suite contains a matrix of range-bearing sensors of quality that is strongly
range dependent. There also may be an acoustic sensor which provides an auxiliary speed measurement. It is shown that the high degree of
partitioning of the kinematic state space provided by the algorithm is useful in this application.