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We present a (suboptimal) filtering algorithm for tracking a highly maneuvering target in a cluttered environment using multiple sensors. The filtering algorithm is developed by applying the basic interacting multiple model (IMM) approach and the probabilistic data association (PDA) technique to a two sensor (radar and infrared, for instance) problem for state estimation for the target. A simultaneous measurement update approach is followed where the raw sensor measurements are passed to a central processor and fed directly to the target tracker. A multisensor PDA filter is developed for parallel sensor processing for target tracking under clutter. A past approach using parallel sensor processing has ignored certain data association probabilities leading to an inaccurate implementation. Another existing approach applies only to nonmaneuvering targets. The algorithm is illustrated via a highly maneuvering target tracking simulation example where two sensors, a radar and an infrared sensor, are used. Compared with an existing IMM/PDA filtering algorithm with sequential sensor processing, the proposed algorithm achieves significant improvement in the accuracy of track estimation.
Aerospace and Electronic Systems, IEEE Transactions on (Volume:41 , Issue: 3 )
Date of Publication: July 2005