An improved IMM algorithm with variable structure

In this paper, an IMM algorithm with variable structure is proposed aiming at the large amount and low efficiency of computation, which is inherent weakness of standard IMM algorithm. Based on standard IMM algorithm, the new method obtains state information of targets, and establishes rules on entrance and exit of models, with which the algorithm adjusts the model set to motion of targets. Results of simulation show that the new algorithm leads to fewer models and higher computation efficiency without lowering the tracking performance.