Interacting Multiple Model Extended Kalman Filter for Tracking Target Executing Evasive Maneuvers

A 3-model interacting multiple model extended Kalman filter with constant velocity, constant acceleration and constant turn models (IMMEKF-VAT) is proposed for tracking a maneuvering target undergoing acceleration as well as turn maneuvers in the Cartesian zx− plane. Its performance is compared with 2-model IMMEKF-VA. Performance comparison indicates that the IMMEKF-VAT provides smoother estimates of target states only during turn maneuver at the cost of extra computation. IMMEKF-VA should suffice for tracking targets executing constant acceleration as well as constant turn maneuvers.