Improved Adaptive Grid IMM Algorithm with Variable Sampling Period

A new adaptive grid interacting multiple models(AGIMM) algorithm based on the turning model is proposed.The algorithm gives the sampling period next moment for filtering,using the angular rate of the center model.The center model parameter will be updated again after the left and right model parameters' renewal.Then the renewal parameters will be introduced into measurement noise covariance.At last, simulation comparison of the improved AGIMM and the traditional AGIMM and the fixed sampling period AGIMM is presented.The result shows that the improved algorithm can better inhibit error, and has a better filtering effect.