Multiple-Model Estimators for Tracking Sharply Maneuvering Ground Targets

This paper presents algorithms that can be used to track the state of kinematic point targets, moving in two dimensions, that are capable of making very sharp heading maneuvers over short periods of time. Ground vehicles with continuous wheel tracks moving in an open held may perform such maneuvers. These targets are capable of 60°/s turn rates, whereas measurements are received at only 1 Hz. We describe how an interacting multiple model estimator (IMM) should be designed to accommodate such maneuvers, and we introduce the nonzero mean, white noise turn-rate model to quickly detect sharp turns by modeling a multimode process noise probability density function. Results show that including such modes in an IMM achieves significant improvement in accuracy and consistency, as compared to conventional coordinated-turn IMM filters.