Cooperative detection based on the adaptive interacting multiple model-information filtering algorithm

Abstract

This paper develops a multiaircraft cooperative detection scheme for effectively improving the accuracy when detecting the highly maneuvering target, where the cooperative estimate and observation trajectory planning of multiaircraft are addressed simultaneously. Based on the error compression ratio of the Markov matrix, an adaptive IMM algorithm is proposed for single detection, the convergence characteristic of which is theoretically proven meanwhile. Then, an adaptive IMM-information filtering algorithm is derived by embedding information filtering into the adaptive IMM algorithm for the fusion of the detection information. Next, the coordinated planning of observation trajectories is achieved for multiaircrafts by relying on receding horizon optimization (RHO) and the detection information. The cooperative detection and trajectory planning scheme is illustrated by the simulation results.