An adaptive multiple model filter using IMM and STF-CS

An adaptive multiple model filter using IMM and STF-CS is proposed. STF-CS is presented based on the current statistical model (CS), by introducing a fading factor of Strong Tracking Fitter (STF). This proposed adaptive filter (STF-CS-IMM) combines the advantages of the current statistical model, IMM and STF. It improves the adaptive tracking performance greatly when there is a sudden maneuver, and has the same high precision to track common maneuvering as the current statistical model and non-maneuvering as standard IMM algorithm. Monte Carlo simulation results show the effectiveness of the proposed algorithm.