Model-group switching algorithm for multiple-model estimation with variable structure
Xiaoning Li, Xiaorong Zhi, Youmin M. Zhang, Xiaoning Li, Xiaorong Zhi, Youmin M. Zhang · Guidance, Navigation and Control Conference · 1997
A general multiple-model estimator with variable structure (VSMM), called model-group switching (MGS) algorithm, is presented. It assumes that the total set of models can be covered by a number of model groups, each representing a cluster of closely related system behavior patterns or structures, and a particular group is running at any given time determined by a hard decision. This algorithm is the first VSMM estimator that is generally applicable to a large class of problem with hybrid (continuous and discrete) uncertainties and easily implementable. The algorithm is implemented for a problem of tracking a maneuvering target using a time-varying set (group) of models. Simulation results show that the proposed MGS algorithm provides a substantial reduction in computation while having virtually identical performance with the fixed-structure Interacting Multiple-Model (IMM) estimator.