Maneuvering Target Tracking with Radar/IR Heterogeneous Measurements

Abstract

This paper presents a interacting multiple model based on modified debiased converted measurement kalman filter (IMM-MDCMKF) for tracking a maneuvering target using radar/IR heterogeneous sensors. Under the architecture of the proposed algorithm, the interacting multiple model integrates different filter model to estimate target state, and the MDCMKF algorithm reduces the effect of measurement noise on the covariance effectively. Simulation results show the proposed algorithm is valid and feasible and has higher tracking precision than radar individual tracking.