A comparison of fixed gain IMM against two other filters

The purpose of the paper is to present an alternative to the constant acceleration Kalman filter which requires half the computational load and yet performs almost as well as the IMM filter. The theoretical justification for this filter came from a study of the IMM filter by two of the authors (E. Derbez and B. Reimmard, 2000). The results of this study are recalled, and illustrative simulations using these filter are carried out by transforming noisy radar data into Cartesian coordinates and then applying a filter to each coordinate separately. The proposed filter is analyzed against a constant velocity, constant acceleration IMM filter, and a constant acceleration regular Kalman filter. The stability properties of each of these filters are also addressed.