Abstract
This paper presents an improved version of the IMMPDA(interacting multiple model with probabilistic data association) filter with the detecting capability of a maneuver. In order to detect a maneuver of a target, an error monitoring and recovery method of perception net is employed for the IMMPDA filter design. The PDA(probabilistic data association) filter, which is only slightly more complex than a standard filter, can be combined with the IMM(interacting multiple model) algorithm for tracking in a cluttered environment. Both detecting a maneuvering target and compensating the estimated state can be achieved by employing the properly implemented error monitoring and recovery technique. Thus, the proposed method is derived as an extension of the previous result on tracking for a maneuvering target without clutter. The conventional IMMPDA filter which employing the error .monitoring and recovery technique shows good tracking performance for a highly maneuvering target as well as it reduces maximum values of estimation errors when the maneuver starts and finishes. The effectiveness of the proposed method is validated through simulations by comparing it with the conventional IMMPDA filter.
Published Version
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