IMM-cubature quadrature Kalman filter for manoeuvring target tracking

Tracking manoeuvring aircrafts is an extremely challenging and important task as far as civil air traffic control is concerned. Considering a multiple switching model design for describing the aircraft dynamics can provide more accurate estimation results than that obtained from a single model design. In this paper, the cubature quadrature Kalman filter (CQKF) has been used to estimate the position and velocity of a target manoeuvring in space. An interacting multiple model (IMM) approach is used to develop the tracker which is supposed to track an `S' manoeuvre. The states are estimated from the bearing and range measurements. Simulation result is provided to show that CQKF with IMM approach is capable of tracking a manoeuvring target without any track loss.