Study on Tracking Simulation of Nonlinear Maneuvering Target Based on IMM-UKF

When dealing with tracking problems of nonlinear maneuvering target,the extended Kalman filter(EKF)method had larger tracking error and was easy to cause filtering divergence,at the same time the system model of the method maybe change with time.Thus traditional linear filtering method and unitary state model could not be used to deal with these types of problem.In the whole process of target tracking,it was assumed that the target movement was composed of three parts of horizontal constant speed movement,diving movement,climbing movement,and the target data mesurement was composed of slant range,azimuth angle and elevation angle.Based on these,the target maneuvering state model and observation model were set up,the model transition matrix was given,and the filter based on interacting multi-mode unscented Kalman filter (IMM-UKF)was designed.The simulation of target tracking was carried out.The simulation results showed that this method can be used to track nonlinear maneuvering target with the higher accuracy and improved convergence rate.