IMM algorithm for tracking targets that maneuver through coordinated turns
Gregory A. Watson, William Dale Blair · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1992
The interacting multiple model (IMM) algorithm uses multiple models that interact through state mixing to track a target maneuvering through an arbitrary trajectory. However, when a target maneuvers through a coordinated turn, the acceleration vector of the target changes magnitude and direction, and the maneuvering target models commonly used in the IMM (e.g., constant acceleration) can exhibit considerable model error. To address this problem an IMM algorithm that includes a constant velocity model, a constant speed model with the kinematic constraint for constant speed targets, and the exponentially increasing acceleration (EIA) model for maneuver response is proposed. The constant speed model utilizes a turning rate in the state transition matrix to achieve constant speed prediction. The turning rate is calculated from the velocity and acceleration estimates of the constant speed model. The kinematic constraint for constant speed targets is utilized as a pseudomeasurement in the filtering process with the constant speed model. Simulation results that demonstrate the benefits of the EIA model and the kinematic constraint to the IMM algorithm are given. The tracking performance of the proposed IMM algorithm is compared with that of an IMM algorithm utilizing constant velocity and constant turn rate models.