Maneuvering Emitter Tracking by a Single Passive Observer Using SRUKF Based IMM Algorithm

The interacting multiple model (IMM) algorithm is combined with the square root unscented Kalman filter (SRUKF), and explored to track maneuvering emitter with a single passive observer, which processes Doppler frequency changing rate and angle measurements concurrently, thus the observer maneuver is not required. Computer simulations are performed to compare the SRUKF based IMM(SRUKF-IMM) tracker with the traditional extended Kalman filter based IMM (EKF-IMM) tracker. Simulation results reveal that the SRUKF-IMM tracker is more stable and effective.