Sensors determine the kinematic measurements of a boosting missile, and the information is applied to a plurality of pairs or sets of filters, one of which is matched to the characteristics of a particular target type, and the other of which is general, and not matched to a particular target, for producing from each filter of the set missile position, velocity, acceleration, and specific mass flow rate states, and covariances of those states. From the filtered information, the estimates are made of at least missile mass flow rate, thrust, velocity at stage burnout, and remaining burn time. The likelihood is computed that the states and covariances from the filter sets represent the same target. The largest likelihood is selected as representing the target. In one mode, the estimated parameters are weighted and summed for a composite likelihood.