Target tracking with interactive multiple model in geodetic coordinate system for naval ships cooperative engagement

Aiming at naval cooperative engagement problem, a decentralized fusion architecture based on geodetic coordinate system is presented. To increase the performance of maneuvering target tracking and fusion four efforts are made. Firstly, a more appropriate multiple model method is used in describing movement properties of the maneuvering warship, Secondly, the Unscented Kalman filter in an interacting multiple mode (IMM) algorithms to track the maneuvering warship is provided. Thirdly, for numerical stability problems often encountered in implementing of interactive multiple modes unscented Kalman filter, a numerical robust solution based on square root filtering is given. Fourthly, a decentralized fusion algorithm for warships is proposed. The proposed algorithm can unify tracking and fusion algorithms in short range, intermediate range and long-distance circumstances, and simplifies the system information flow for target calculation. The simulation results show the efficiency and robustness of the proposed algorithm with high precision.