Tracking Maneuvering Target with Angle-Only Measurements Using IMM Algorithm Based on CKF

The interacting multiple model (IMM) algorithm is specially designed to track accurately targets whose state and measurement models changes during motion transition. However, when these models are nonlinear, the IMM algorithm must be modified in order to guarantee an accurate track. Recently, the cubature Kalman filter (CKF) has been proposed to estimate the nonlinear system, and could perform better than unscented Kalman filter (UKF). In this paper, the IMM algorithm CKF based (IMM-CKF) is presented to track the maneuvering target using angular measurements. The simulation results demonstrate the improved performance of IMM-CKF over IMM-UKF, and the execution time of the former algorithm is shorter than the latter.