1. A method for tracking highly maneuverable moving target objects, comprising: estimating the motion of at least one target object via a mathematical method that includes a filter method relating to a model assumption for estimating at least one of the motion and an orientation of the target object; and ascertaining at least one of the motion and orientation by modeling with: stochastic differential equations; and a discontinuous process comprising one of a Markov process or semi-Markov process, in which the at least one of the motion and orientation are determined by a numerical method, wherein the filter method includes a semi-martingale algorithm for estimating motion.