Parameter adjustment in the turn rate models in the interacting multiple model algorithm to track a maneuvering target

The paper compares the performance of two different configurations of the interacting multiple model (IMM) algorithm in tracking a civil aircraft. The first configuration of the IMM algorithm uses one straight line motion model and different constant turn rate models whereas the other configuration also employs a straight line motion model and a single turn rate model which uses an estimate of the turn rate. In the first algorithm, results have been obtained using different process noise values and different numbers of models. From these results, recommendations are made regarding the choice of both these variable parameters.