Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Performance Evaluation of the Modified Interacting Multiple Model Filter Using 3-D Maneuvering Target

3차원 기동표적을 사용한 수정된 상호작용 다중모델필터의 성능 분석

  • Park, Sung-Lin (Agency for Defense Development) ;
  • Kim, Ki-Cheol (Hyundai Heavy Industries ) ;
  • Kim, Yong-shik (Dept.of Intelligent Mechanical Engineering, Busan National University) ;
  • Hong, Keum-Shik (Mechanical Technology Research Center, Dept.of Mechanical Engineering, Busan National University)
  • 최성린 (국방과학연구소) ;
  • 김기철 (현대중공업 기전연구소) ;
  • 김용식 (부산대학교 지능기계공학과) ;
  • 홍금식 (부산대학교 기계공학부 및 기계기술연구소)
  • Published : 2001.05.01
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Abstract

The multiple targets tracking problem has been one of the main issues in the radar applications area in the last decade. Besides the standard Kalman filtering, various methods including the variable dimen-sion filter, input estimation filter, interacting multiple model(IMM) filter, dederated variable dimension filter with input estimation, etc., have proposed to address the tracking and sensor fusion issues. In this pa- per, two existing tracking algorithm, i.e, the IMM filter and the variable dimension filter with input estima-tion(VDIE), are combined for the purpose of improving the tracking performance for maneuvering targets. To evaluate the tracking performance of the proposed algorithm, three typical maneuvering patterns, i.e., waver, pop-up, and high-diver motions, are defined and are applied to the modified IMM filter as well as the standard IMM filter. The smaller RMS tracking errors, in position and velocity, of the modified IMM filter than the standard IMM filter are demonstrated though computer simulations.

Keywords

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