State dependent mode transition probabilities with an application to acceleration dependency

For the purpose of tracking maneuverable targets and estimating the maneuver mode, a multiple model filter similar to the interacting multiple model (IMM) filter is used. The dependency of the mode transition probabilities on the state is taken into account. By the use of the information about the mode that is contained in the target state, a faster convergence of the mode estimate to the true value is achieved. The use of sophisticated transition models is especially helpful when more than two modes are concerned. For this case, new difference of Gaussians transition functions are introduced. The approach is applied to acceleration dependent mode transitions in a scenario with a constant velocity mode and multiple coordinated turn modes with different turn rates.