A distributed multirate IMM algorithm for multiplatform tracking

Under the assumption that each model operates at an update rate proportional to the model's assumed dynamics, a multirate interacting multiple model (MRIMM) algorithm is briefly introduced. Based on the multirate IMM, its distributed version DMRIMM algorithm for multiplatform tracking is proposed. The MRIMM algorithm is first employed to perform each local/platform estimation. A global filter is then constructed to perform a fusion of MRIMM estimations. The advantages of low computation loads and performance improvement are demonstrated through Monte Carlo simulations.