Manoeuvring Target Tracking Algorithm Based on IMM-SCKF-STF

When dealing with tracking problems of nonlinear maneuvering target, the conventional nonlinear filtering methods have larger tracking error and are easy to cause filter's divergence.To solve both problems, an interacting multiple model square-root cubature Kalman filter based on Strong tracking filter (IMM-SCKF-STF) is proposed by introducing SCKF-STF into IMM algorithm.In the novel tracking algorithm, it introduces a strong tracking fading factor into SCKF, and makes it possess of not only strong tracking ability to abrupt change of state of maneuver target but also outstanding tracking ability to maneuver target had by IMM method.Accordingly, it has better nonlinear filtering estimate accuracy and algorithm stability for this proposed tracking algorithm, especially the tracking robust performance to deal with abrupt change of state of maneuver target should be improved clearly.Finally, two simulation examples are presented to compare the novel algorithm with the current IMM-UKF on tracking performance and the results show that the novel one is better than IMM-UKF algorithm on estimate accuracy and tracking performance.