Maneuvering Target Tracking Algorithm Based on IMMSCKF

Abstract

Aiming at the tracking filters are liable to diverge and the tracking precision is low when tracking nonlinear maneuvering target, an Interacting Multiple Model Square-root Cubature Kalman Filter (IMMSCKF) is developed by introducing Square-root Cubature Kalman Filter (SCKF) into Interacting Multiple Model (IMM). This method uses SCKF for filtering each model, the weighted sum of the outputs of all parallel SCKF is taken as the output of IMMSCKF. Simulation shows that IMMSCKF has higher precision, quicker model switching speed, and smaller calculation cost compared with IMMUKF.