Tracking using the variable-dimension filter with input estimation

An improved method for tracking a maneuvering target is proposed. The proposed tracking filter is constructed by combining the recursive formulation of the input estimation approach with the variable-dimension filtering approach. In the proposed approach, the filter also provides the estimate of time instant at which a target starts to maneuver, when a target maneuver is detected. Using this estimated starting time of the maneuver, the maneuver input is also estimated and the tracking system changes to the maneuvering model. The computational load of the proposed procedure is comparable to that of the input estimation approach. Simulations are performed to demonstrate the efficiency of the proposed tracking filter, and comparisons with the interacting multiple model (IMM) filter, the input estimation filter and the variable-dimension filter are made.<>