A PCR-BIMM filter for maneuvering target tracking

In this paper we show how to correct and improve the Belief Interacting Multiple Model filter (BIMM) proposed in 2009 by Nassreddine et al. for tracking maneuvering targets. Our improved algorithm, called PCR-BIMM is based on results developed in DSmT (Dezert-Smarandache Theory) framework and concerns two main steps of BIMM: 1) the update of the basic belief assignment of modes which is done by the Proportional Conflict Redistribution Rule no. 5 rather than Smets´ rule (conjunctive rule); 2) the global target state estimation which is obtained from the DSmP probabilistic transformation rather than the commonly used Pignistic transformation. Monte-Carlo simulation results are presented to show the performances of this PCR-BIMM filter with respect to classical IMM and BIMM filters obtained on a very simple maneuvering target tracking scenario.