An IMM-UF algorithm for tracking highly maneuvering target

Tracking of highly maneuvering targets with unknown behavior is a difficult problem in state estimation. This paper presents an adaptive interacting multiple model algorithm (IMM) utilizing adaptive turn rate models to track a maneuvering target. The turn rate is calculated at each step form the estimator of velocity and the radius of curvature of the trajectory of the target by using Least Square (LS) and curve fitting theory. Simulation in different scenario proves that the turn-rate estimation techniques in this adaptive framework can significantly solve the problem of tracking maneuvering targets.