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Abstract
To solve the problem of tracking maneuvering airborne targets in the presence of clutter, an improved interacting multiple model probability data association algorithm (IMMPDA-MDCM) using radar/IR sensors fusion is proposed. Under the architecture of the proposed algorithm, the radar/IR centralized fusion tracking scheme of IMMPDA-MDCM is designed to guarantee the observability of the target state. The interacting multiple model (IMM) deals with the model switching. The modified debiased converted measurement (MDCM) filter accounts for non-linearity in the dynamic system models, and reduces the effect of measurement noise on the covariance effectively. The probability data association (PDA) handles data association and measurement uncertainties in clutter. The simulation results show that the proposed algorithm can improve the tracking precision for maneuvering target in clutters, and has higher tracking precision than the traditional IMMPDA based on EKF and IMMPDA based on DCM algorithm.
Highlights
Target tracking is an essential requirement for the fire control system of the armed reconnaissance vehicle, which is equipped with a suite of advanced sensors to detect, locate, track, classify and automatically identify targets under all climatic conditions
The tracking performances of proposed interacting multiple model probability data association (IMMPDA)-modified debiased converted measurement (MDCM) algorithm, IMMPDA-debiased converted measurement (DCM) and IMMPDA-extended Kalman filter (EKF) are compared via 100 Monte Carlo simulations
The total position tracking error of the proposed algorithm is reduced by 34.22% and 46.81% compared to IMMPDA-DCM and IMMPDA-EKF, respectively
Summary
Target tracking is an essential requirement for the fire control system of the armed reconnaissance vehicle, which is equipped with a suite of advanced sensors to detect, locate, track, classify and automatically identify targets under all climatic conditions. The infrared (IR) sensor is a passive system, which is quite sensitive to atmospheric conditions and has no effect on electromagnetic interference It has higher precision of angular measurements than radar [2]. IMM filter was proposed for tracking a maneuvering target using radar/IR sensors [4]. IMM based on modified iterated extended Kalman filter for tracking a maneuvering target using radar/ IR sensors was proposed in [7]. An adaptive update rate tracking algorithm based on modified IMMPDA is proposed to avoid tracking loss of maneuvering target tracking in clutters [12]. The IMMPDA algorithm is combined with the modified debiased converted measurement (MDCM) filter to create an IMMPDA-MDCM filter for an airborne maneuvering target tracking in radar/IR fusion system.
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