An interacting multiple model particle filter for manoeuvring target location

Abstract

A constant velocity model, a constant acceleration model and a coordinated turn model are used for manoeuvring target. However, high location precision of the target could not be obtained with any one of these models. In this paper, an interacting multiple model particle filter (IMMPF) algorithm is proposed to estimate the target location with several models. Besides similar mixing and interaction to those in a traditional interaction multiple model (IMM) estimator, a standard particle filter runs in every model and the number of particles in every model is fixed. Compared through a target location example, the proposed algorithm is better than the traditional IMM.