title: Heterogeneous Multiple Sensors Joint Tracking of Maneuvering Target in Clutter.
abstract: To solve the problem of tracking maneuvering airborne targets in the presence of clutter, an improved interacting multiple model probability data association algorithm (IMMPDA-MDCM) using radar/IR sensors fusion is proposed. Under the architecture of the proposed algorithm, the radar/IR centralized fusion tracking scheme of IMMPDA-MDCM is designed to guarantee the observability of the target state. The interacting multiple model (IMM) deals with the model switching. The modified debiased converted measurement (MDCM) filter accounts for non-linearity in the dynamic system models, and reduces the effect of measurement noise on the covariance effectively. The probability data association (PDA) handles data association and measurement uncertainties in clutter. The simulation results show that the proposed algorithm can improve the tracking precision for maneuvering target in clutters, and has higher tracking precision than the traditional IMMPDA based on EKF and IMMPDA based on DCM algorithm.
authors.affiliation: Department of Automation, Nanjing University of Science and Technology, No.200, Xiaolingwei Street, Xuanwu District, Nanjing 210094, China. plwu@njust.edu.cn.
authors.forename: Panlong
authors.initials: P
authors.lastname: Wu
authors.affiliation: Department of Science, Nanjing University of Science and Technology, No.200, Xiaolingwei Street, Xuanwu District, Nanjing 210094, China. xxlwpl@126.com.
authors.forename: Xingxiu
authors.initials: X
authors.lastname: Li
authors.affiliation: Department of Automation, Nanjing University of Science and Technology, No.200, Xiaolingwei Street, Xuanwu District, Nanjing 210094, China. kongjs77@163.com.
authors.forename: Jianshou
authors.initials: J
authors.lastname: Kong
authors.affiliation: Department of Automation, Nanjing University of Science and Technology, No.200, Xiaolingwei Street, Xuanwu District, Nanjing 210094, China. ljle126@126.com.
authors.forename: Jiale
authors.initials: J
authors.lastname: Liu
keywords: centralized fusion; debiased converted measurement; interacting multiple model; probability data association; target tracking