Tracking a splitting target in clutter using the IMM methodology

We consider the problem of tracking a target that may split, several times, into separate targets, such that each split becomes an autonomous target. This setting arises, for example, when an aircraft launches a series of missiles, or a ballistic missile with multiple warheads breaks into pieces in the reentry phase. The problem is cast into a framework proposed in an earlier work and formulated using a single, generalized statespace model with randomly switching coefficients. Consequently, the states of the original target, as well as of the splits thereof, are tracked efficiently using a single IMM-like algorithm.