Interactive Multiple Model Target Tracking Based on Seventh-Degree Spherical Simplex-Radial Cubature Information Filter
Hamza Benzerrouk, Alexander V. Nebylov · IFAC-PapersOnLine · 2018
In this paper, we propose a new IMM (Interactive Multiple Model) algorithm called seventh degree cubature interactive multiple models IMM applied to manoeuvring Target tracking. Instead of using classical measurement model, it is proposed to consider full Doppler measurement signal as a new nonlinear observation, being highly nonlinear, and by assuming multiple and sequential measurement, information filter instead of the error covariance Kalman filter derivation is then valorized. Aiming at improving the accuracy and quick response of the filter in nonlinear manoeuvring target tracking problems, the Interacting Multiple Models 7th degree Cubature Information Filter (IMM7thCIF) is then implemented. It evaluates the information vector and information matrix rather than state vector and covariance with higher degrees than proposed in the literature, which can reduce the error of nonlinear filtering algorithm, specifically when highly nonlinear measurement are faced such as for Doppler signal. Simulation results show that the proposed filter exhibits fast and more accurate estimation and faster switching when disposing different manoeuvre models; it performs better than the IMM5th degree CKF, IMM3th degree CKF and IMMUKF on tracking accuracy.