Integrated Track Splitting Filter for Manoeuvring Targets ∗

The paper presents a new algorithm for tracking a manoeuvring target in a cluttered environment. The algorithm combines the Integrated Track Splitting (ITS) filter with the Interacting Multiple Model (IMM) algorithm. The ITS filter is a multiscan method for automatic target tracking in clutter. The multiscan foundation provides good tracking capabilities even when the probability of detection is low or in dense or non-homogeneous clutter. The recursive updating of a track quality measure in the form of the probability of target existence allows false track discrimination. In this paper the ITS tracker is extended by the incorporation of the IMM algorithm to enable the filter to efficiently track a manoeuvring target in a cluttered environment. Simulations are used to verify the approach in an environment of heavy and non-uniform clutter.

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