Abstract
In this study, an unscented particle filtering method based on an interacting multiple model (IMM) frame for a Markovian switching system is presented. The method integrates the multiple model (MM) filter with an unscented particle filter (UPF) by an interaction step at the beginning. The framework (interaction/mixing, filtering, and combination) is similar to that in a standard IMM filter, but an UPF is adopted in each model. Therefore, the filtering performance and degeneracy phenomenon of particles are improved. The filtering method addresses nonlinear and/or non-Gaussian tracking problems. Simulation results show that the method has better tracking performance compared with the standard IMM-type filter and IMM particle filter.
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Project supported by the National Natural Science Foundation of China (No. 60673024) and the National Basic Research Program (973) of China (No. 2004CB719400)
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Guo, Rh., Qin, Z. An unscented particle filter for ground maneuvering target tracking. J. Zhejiang Univ. - Sci. A 8, 1588–1595 (2007). https://doi.org/10.1631/jzus.2007.A1588
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DOI: https://doi.org/10.1631/jzus.2007.A1588
Key words
- Interacting multiple model (IMM)
- Unscented particle filter (UPF)
- Ground target tracking
- Particle filter (PF)