中文说明：基于三个模型的目标跟踪，中心角速度为0.偏移角速度固定。能够解决轨迹为非线性的目标的跟踪。自带轨迹。
English Description：
Based on the three models, the center angular velocity is 0. The offset angular velocity is fixed. It can be used to track the target whose trajectory is nonlinear. It has its own track.