Maneuvering target tracking using adaptive turn rate models in the interacting multiple model algorithm

This paper presents an interacting multiple model algorithm (IMM) utilizing adaptive turn rate models to track a maneuvering target. The turning rate is calculated at each time step from the velocity and acceleration estimates of the center filter as the magnitude of the acceleration divided by the speed of the target. The comparison of the tracking performance of the proposed algorithm is made with that of an IMM algorithm, utilizing a straight line motion model in conjunction with a single turn rate model which uses an estimate of the turn rate and also to that of an IMM algorithm utilizing three constant turn rate models