A yaw-aided interacting multiple model tracking algorithm

Based on the analysis of correlation among three pose angles, the paper proposed a yaw-aided interacting multiple model tracking algorithm (YAIMM). Firstly, instant angular velocity of the target was estimated from yaw information. Then, applicable models were chosen from preparative model set based on fuzzy association method, and their model probabilities were also computed. At last, weighted sum of state estimations from all selected models was received as final state estimation. Comparing with IMM, YAIMM improves the adaptability of model set and reduces the computation of model probability, which shows that YAIMM has better precision and real-time performance.