A method and a system for sensing a boosting target missile, estimate position and velocity and boost acceleration parameters of the target missile, and control an interceptor missile to the target missile. A boost-phase missile target state estimator estimates at least acceleration, velocity, and position using an acceleration template for the target vehicle. The nominal template is incorporated into an extended Kalman filter which corrects the nominal template acceleration with the filter states to predict future thrust acceleration, velocity and position. The correction can compensate for motor burn variations and missile energy management (lofted/depressed trajectory).
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