IMM architecture for track fusion
Gregory A. Watson, Theodore R. Rice, Ali T. Alouani · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2000
A numeric solution for the fusion of multiple tracks produced form an arbitrary number of asynchronous measurements has been recently developed. This track fusion solution is a weighted sum of the values associated with the previous fused estimate and the multiple individual estimates. This optimal asynchronous track fusion algorithm (OATFA) has properties that are identical to the Kalman filter. However, the deficiencies of the Kalman filter when tracking maneuvering targets are also exhibited by the OATFA but can be overcome with the use of the Interacting Multiple Model (IMM) algorithm. Consequently, it should be possible to replace the Kalman filter commonly employed in a conventional IM algorithm with the OATFA to from the IMM- OATFA. The IMM-OATFA will be developed and simulation result will be used to compare this performance with a conventional IMM tracker.