The Interacting Multiple Model Algorithm Based on Anti-Divergent RBUKF

Devoted to the problem of maneuvering target tracking under nonlinear observation, linear state and added noise, an interacting multiple model algorithm based on anti-divergent RBUKF (IMM-AD-RBUKF) is developed, which uses Rao-Blackwellised UKF (RBUKF) for filter and makes anti-divergent work. Simulation results show that this algorithm can improve the tracking precision and robustness of the multiple model algorithm at a low computation cost, and especially cope with the case of the model mismatching and the target's sudden maneuvering. It's a kind of engineering practical method suitable for high maneuvering target tracking.