A Novel Variable Structure Multi-Model Tracking Algorithm Based on Error-Ambiguity Decomposition

Model set adaptation (MSA) plays a key role in the variable structure estimation approach (VSMM). In this paper, we adopt the error-ambiguity decomposition (EAD) principle into the VSMM framework and derive the optimal EAD-MSA criteria. By proposing some approximation methods, an EAD variable structure interactive multiple model algorithm (EAD-VSIMM) is constructed. We test the EAD-VSIMM algorithm in a maneuvering target tracking scenario and the results demonstrate that, compared to two benchmark MM algorithms, the proposed EAD-VSIMM algorithm can achieve more robust and accurate estimation results.

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