Tracking Maneuvering Ground Target with Variable Structure IMM Estimator Based on Dynamic Characteristic

To track maneuverable ground target without topography information or road constraint, a Variablestructure Interacting multiple model (VS-IMM) estimator based on target Dynamic characteristic (DC VS-IMM)was proposed. This estimator considered target maneuvers and divided target motion into several different modesegments. Suitable model set was designed for each modesegment. In tracking process, model set switched depending on the estimated target state. The design and implementation of this estimator to track a tank in a battlefieldscenario without topography information was described.Simulation results show the benefits of this DC VS-IMMestimator over the standard IMM estimator.