State dependent mode transition probabilities

A multiple model filter similar to the IMM filter is developed for tracking of maneuvering targets. The mode transition probabilities are modeled as dependent on the state. This allows using information about the mode of a target that is contained in the state. Thus, better estimates of the mode can be obtained. Convergence of the mode estimates occurs more quickly. As an application, choosing acceleration dependent mode transitions in a scenario using constant velocity motion and coordinated turn motion is discussed.