Abstract
An interacting multiple model (IMM) filter is presented for the real-time tracking of tactical ballistic missiles (TBMs). The novel aspects of the proposed IMM filter include the development of a constant axial force (CAF) Kalman filter, asymmetric IMM state interaction, and an entropy-based variation of the IMM mode probability update equation. Using data from a recent TBM defense (TBMD) test event, the proposed IMM filter is shown to yield consistent state estimates throughout the entire TBM trajectory, which includes a dual-stage boost during launch.
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