LAUSR

For maneuvering target tracking, the interactive multiple model (IMM) algorithm and its variants have shown good performance, among which the variable structure IMM (VSIMM) algorithm is the most widely studied one. The approximation degree of the algorithm and the matching degree of the model subset will affect the performance of the VSIMM. In addition, considering that smoothing can provide better estimation of the target state, a new adaptive VSIMM filtering and smoothing (AVSIMMFS) algorithm is proposed in this paper. First, an accurate model of the VSIMM algorithm is established, in which the IMM is run in parallel with and independently from the different model subsets, and the state estimation of the model subset with the highest probability is selected as the final estimation result. Then, an adaptive VSIMM (AVSIMM) algorithm was designed based on the VSIMM algorithm. The adaptation is reflected in the construction of a new model subset from the original model subsets, which improves the matching degree between the model subset and the actual maneuvering model of the target. Finally, by smoothing the filtering data of the AVSIMM algorithm, the AVSIMMFS algorithm is obtained. Because of the combination of forward filtering and backward smoothing, the target tracking accuracy is further improved. Simulation results show that the tracking performance of the AVSIMMFS algorithm is better than that of other methods.