Tracking ground targets with road constraints using an IMM estimator

This paper presents the development of a tracker based on the Interacting Multiple Model (IMM) estimation algorithm for tracking groups of ground targets using Moving Target Indicator (MTI) reports obtained from an airborne sensor. The targets are moving along a constrained path, for example, a highway, with varying obscuration due to changing terrain conditions. In addition, the roads on which the targets travel can branch, merge, or cross. This constrained motion estimation problem is handled using an IMM estimator with varying mode sets depending on the topography. The design and implementation of the topography based Variable Structure IMM (VS-IMM) estimator is described. Simulation results are also presented