Application of IMM in the Control of Vehicular Turret

The vehicular fire control system has the uncertainty problem in target tracking. This paper uses the CA model and IMM respectively as the target motion model, and explores the UKF algorithm to estimate the state of the moving target, which keeps the vehicular turret and the moving target servo in the air. The simulation results show that the algorithm using IMM to describe the target motion has smaller errors and higher precision than that using the CA model in MATLAB, which can meet the need of maneuvering target tracking, and better realize the control of turret in vehicular fire control system. Furthermore, measured results in hardware environment demonstrate that the execution time of IMM-UKF is short, which can meet real-time requirements in vehicular fire control system.