Helicopter tracking and classification with multiple interacting multiple model estimator with out-of-sequence acoustic and EO measurements

The interacting multiple model for out-of-sequence measurements with acoustic and electro-optic (EO) fusion bearings-only tracker (IMMOOSM-AE-BOT) has been developed recently to track maneuvering targets from delayed acoustic sensor measurements and non-delayed EO sensor measurements on the same single platform. In this paper, we extend the IMMOOSM-AE-BOT to make use of frequency measurements from the acoustic sensor for tracking helicopter targets. The resulting multiple interacting multiple model for out-of-sequence measurements with acoustic and EO Doppler-bearing tracker (MIMMOOSM-AE-DBT) has the added advantages of being able to classify the target into several types, and improved accuracy. Scenarios are simulated and tested with both MIMMOOSM-AE-DBT and IMMOOSM-AE-BOT and results are presented.