Two estimators are presented, that enable cooperative target tracking of twomissiles intercepting a single maneuvering target. The first estimator is a nonlinearadaptation of an interacting multiple model filter, whereas the second estimator isa multiple model particle filter. The paper develops the filters for the cooperativeand non-cooperative estimation modes, and investigates their individual estimationperformance, using a nonlinear two-dimensional simulation. An extensive MonteCarlo study is used to demonstrate the viability of the cooperative estimation con-cept, for both estimators. It is shown that the closed loop interception performanceof two cooperating missiles, guided by an optimal guidance law, improves, whencompared to that of non-cooperating missiles. The particle filter based estimatordemonstrates hit-to-kill closed loop interception performance in the cooperativemode, but requires higher computational load than the extended Kalman filterbased estimator, making the choice of estimator a tradeo? between performanceand computational power.
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