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Sensor Tracks v3

Three types:

  • Cold
    • Unobserved for a long time, stored as last known state/time
    • Converted through kepler approximation to a Loose track
  • Loose
    • Actual true Kalman tracking
    • Position is integrated every frame
    • Converted to Attached if estimated state gets close to real state
    • Converted to Cold if unobserved for a long time and covariance gets large enough
  • Attached
    • Position is not integrated every frame, instead an offset from the real position is stored
    • Offset drifts over time, increasing/decreasing based on covariance
    • Converted to Loose if the entity does an engine burn
    • Converted to Cold if unobserved for a long time