Augmented state IMM-PDA for OOSM solution to maneuvering target tracking in clutter

The out-of-sequence measurement (OOSM) problem is one of the most important issues for target tracking in a multisensor fusion network. The optimal solution is to augment the state vector to include the past states which correspond to those delayed measurements in the filtering process. In this paper, maneuvering target tracking in clutter with the OOSM problem is considered. An AS-IMM-PDA algorithm that uses OOSM to improve tracking performance is presented. The benefit of the AS-IMM-PDA is demonstrated via a maneuvering target tracking example.