Application of IMM to Underwater Maneuver Target Tracking

For improving the real-time property and reliability of underwater maneuver target tracking, the interacting multiple model(IMM) algorithm is applied to underwater maneuver target tracking. Based on the IMM algorithm, a target maneuvering model and a measurement model are established. Because the tracking accuracy depends on filtering method, the extended Kalman filter(EKF) and the unscented Kalman filter(UKF) are combined with the IMM algorithm, respectively. Simulation shows that the IMM algorithm combined with UKF can achieve higher filtering accuracy, hence can track maneuver target more effectively and reliably.