A distributed multirate IMM algorithm for multiplatform tracking

A distributed multirate interacting multiple model (DMRIMM) algorithm for multi-platform tracking is proposed. Under the assumption that each model operates at an update rate proportional to the modelʹs assumed dynamics, a wavelet transform is used to generate equivalent multirate measurements and a multirate constant-velocity (MRCV) model is derived. Thus, a multirate interacting model (MRIMM) algorithm using an MRCV model and multirate measurements is obtained. Based on the multirate IMM, its distributed version DMRIMM algorithm for multiplatform tracking is proposed. The MRIMM algorithm is first employed to perform each local/platform estimation. A global filter is then constructed to perform a fusion of MRIMM estimations. The advantages of low computation loads and performance improvement are demonstrated through Monte Carlo simulations.