Features of each gain design method.

Table 1: Features of each gain design method.

	Kalman filter-based method	MV filter criterion	Proposed method
Minimizing function	Summation of error variances of all state parameters when using assumed motion model	Smoothing performance index σ_p²	J(α,β) (Comprehensive performance in smoothing and tracking)
Design parameter	Tracking index	e_fin and a_c (gain β in (4))	a_d (Corresponding to target acceleration)
On determination criterion of design parameters	Sufficiently discussed.	There is no report*	Presented in this paper.
Performance	Worse than MV filter criterion*	Better than Kalman filter-based method.	Same as MV filter criterion.

*indicates the weaknesses of each method.