**4.1 Airplane tracking**

The first experiment was the tracking of airplane, the estimator sequence can be observed in **Figure 6**, frame (a) correspond to the first sate of the estimator, distributed the particles over an area of the maximum probability of locate the target.

After the correct detection the particle estimator remains locked throughout the entire flight. As can be observed in frame (f) a lot of particle with probability under the threshold probability appears, but nevertheless remains lock.
