Turn Rate Estimation Based Adaptive IMM Algorithm for Maneuvering Target Tracking

Abstract

A turn rate estimation based adaptive interactive multiple model algorithm is put forward to solve model-set mismatch problem of target tracking algorithm applying to high maneuvering target. By considering both the estimation and the estimated variance of target’s turn rate, model-set is selected according to a rule based on the coefficient of variance of turn rate estimation. When turn rate estimation is acceptable, model-set is constructed according to turn rate estimation to reduce competition among models. When turn rate estimation is unacceptable, standard IMM algorithm model-set is applied to increase coverage of model-set. Simulation shows this algorithm improves tracking performance especially for high maneuvering targets.

High manoeuvre target tracking in coordinated turns

“…Zhan and Wan [20] defined a constant turn motion with angular velocity vector Ω = [ ω x ω y ω z ] to modify a 3D constant turn model, and derived the 3DCT model in details, to further track the manoeuvre targets with IMM‐UKF. Tian et al [21] derived a turn rate estimation‐based adaptive interactive multiple model algorithm to solve model‐set mismatch problem.…”