Adaptive-update-rate tracking based on modified IMM-PDA

An adaptive-update-rate tracking algorithm based on modified IMM-PDA is proposed to avoid tracking loss of maneuvering target tracking in clutters. When there is no valid measurement the association gate is enlarged appropriately according to a modified innovation covariance, which is obtained from the actual predicted measurement and the one under highest maneuvering level hypothesis. Simulation results show the effectiveness of the proposed algorithm for maneuvering target tracking in clutters.