Variable- and Fixed-Structure Augmented Interacting Multiple Model Algorithms for Manoeuvring Ship Tracking Based on New Ship Models

Abstract

he VS AIMM algorithm outperforms the FS AIMM and FS IMM algorithms with respect to accuracy and adaptability. Key words: Interacting Multiple Model (IMM) algorithm, model uncertainty, state and parameter estimation 1. Introduction Tracking of manoeuvring targets is a problem of a great practical and theoretical interest. The real applications meet a number of difficulties caused by the presence of different kinds of uncertainty due to the unknown or not precisely known system model and random processes' statistics as well as because of their abrupt changes (Bar-Shalom, 1992, Bar-Shalom and Li, 1993, 1995, Best and Norton, 1997, Lerro, Bar-Shalom, 1993). These problems are especially complicated in the marine navigation practice, where the applied trivial models of rectilinear or curvilinear target motions do not match to the highly non-linear dynamics of the manoeuvring ship motion. A solution of these problems is to derive more adequate descriptions of th