An unscented particle filter for ground maneuvering target tracking (Q2460949)

In this note, an unscented filtering method based on an interacting multiple model (IMM) frame for a Markovian switching system is presented. The central idea is to integrate an unscented particle filter (UPF) with IMM estimator. 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 standard IMM-type filter and IMM particle filter.