Maneuvering target tracking method via modifying the interacting multiple model (IMM) and the interacting acceleration compensation (IAC) algorithms
AssigneeSingapore Technologies Aerospace Ltd.
InventorsLuo Wen Li, Chian Poh Lam
Life of this patent
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Abstract
The present invention relates to the field of target tracking and more generally to a method employing improved algorithms, which achieve excellent tracking performance for a high-g maneuvering target. The two-model Interacting Multiple Model algorithm and the Interacting Acceleration Compensation algorithm will be modified by introducing adaptive factors through the detection of the normalized innovation squared which is chi-square probability distributed. The implementation results show that the modified algorithms can handle the target sudden maneuver better and are more accurate than the original algorithms.
Claims2
A method of maneuvering target tracking via the modified IMM algorithm having the innovation covariance SJ(k)=HJ(k)PJ(k|k−1)HJ(k)T+RJ(k), wherein SJ(k) being the innovation covariance, HJ(k) being the measurement matrix, PJ(k|k−1) being the state prediction covariance and RJ(k) being the measurement noise covariance, comprising the steps of:
- (a) in each model j (j=1,2), introducing the scaling factors ξJ to the innovation covariance, SJ(k)=HJ(k)PJ(k|k−1)HJ(k)T+RJ(k), as SJ(k)=HJ(k)[FJ(k)PJ(k−1|k−1)FJ(k)T+ξJ×QJ(k)]HJ(k)T+RJ(k), where ξJ are the scaling factors that will scale up the process noise covariance QJ(k) of each model, F(k) is the system matrix.
- (b) setting an initialized threshold to the maneuver detector, ψ=VJ(k)SJ(k)−1VJ(k)T, a little larger with respect to the present scenario, wherein VJ(k) is the innovation.
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