Chapter 10 Engineer ’ s Guide to Variable-Structure Multiple-Model Estimation for Tracking

Target tracking is a hybrid estimation problem involving both continuous and discrete uncertainties [31]. In the prevailing approaches to target tracking, the modeling of the target motion/dynamics and the sensory system is essential. In these systemoriented approaches, it is customary to use the continuous-valued process/plant noise and measurement noise to cover the unknown modeling errors or deviations of the model from the true system. However, the major challenges of target tracking arise from two discrete-valued uncertainties: the measurement origin uncertainty and the target motion uncertainty. The measurement origin uncertainty refers to the fact that a measurement provided by the sensory system for target tracking may have originated from an extraneous source, including clutter, false alarms, and neighboring targets, as well as the target under track. It may also have originated from countermeasures from the target. This uncertainty is clearly discrete in nature. It poses the greatest challenge for target tracking. Numerous techniques have been developed to deal with this uncertainty over the past three decades. The target motion uncertainty exhibits itself in the situations where a target may undergo a known or unknown maneuver during an unknown time period. In

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