Design of an IMM-NNJPDA tracker for HFSWR

In this paper, an IMM-NNJPDA tracker was evaluated to test its capability of handling sharp turn motions for ships. With the flexibility of disabling one of the two models, two additional trackers are available: a Constant Velocity (CV) model NNJPDA (CV-NNJPDA) tracker and a Singer model NNJPDA (Singer-NNJPDA) tracker. All three trackers were evaluated using a recorded High Frequency Surface Wave Radar (HFSWR) data set involving a control vessel undergoing sharp turn.