Variable Structure IMM Using Minimal Sub-Model-Set Switching

In this paper, the Variable Structure Multiple Model (VSMM) approach to maneuvering target tracking problem is considered. A new VSMM design - the Minimal Sub-Model-Set Switching (MSMSS) algorithm for tracking a maneuvering target is presented. In this algorithm: - a core model is used to represent the most likely true system mode; - edge models are used to represent other possible true system modes based on their connectivity with the core model; - a minimal sub-model-set (MSMS) is defined by the core and its edge models and their transition probabilities as determined from the model transition probability matrix for the full model set. The MSMSS algorithm adaptively determines the MSMS of models from the total model set and uses this to perform multiple model (MM) estimation. Simulation results demonstrate that, compared to a standard IMM, the proposed algorithms require significantly lower computation while maintaining similar tracking performance. Alternatively, for a computational load similar to IMM, the new algorithms display significantly improved performance.