Tracking of Maneuvering Targets Using a Variable Structure Multiple Model Algorithm

Abstract

Introduction. In recent years, much attention has been paid to the development of trajectory filtering methods for tracking maneuvering targets. Multi-model (MM) algorithms are widely used for filtering maneuvering targets. Conventional MM algorithms are characterized by a fixed structure. However, highly maneuvering targets require a sufficiently large set of models covering the entire range of possible maneuvers, although an increase in the number of models cannot ensure an increase in the accuracy of tracking. To overcome these problems, multiple model algorithms with a variable structure (VSMM) were proposed. This article proposes two VSMM algorithms for tracking maritime targets performing a coordinated turn at constant speed. These are algorithms with a variable set of models based on adaptive grid and switching grid methods.Aim. To develop an adaptive trajectory tracking algorithm that uses a constant turn model to track maneuvering surface objects.Materials and methods. The resulting algorithm is based on the theory of grid adaptation in multi-model estimation methods and is used to estimate the components of the coordinate and velocity vectors of surface maneuvering targets. The algorithm efficiency was evaluated using computer statistical modeling in the MATLAB environment.Results. The structure of an adaptive VSMM algorithm was described. Simulations were carried out to confirm the algorithm efficiency. In the considered simulation scenarios, the algorithm produces effective estimates of the coordinate vectors and speed of surface maneuvering targets.Conclusion. Adaptive algorithms improve the efficiency of target tracking in comparison with multi-model algorithms with a fixed structure, at the same time as saving computational resources.