Tracking a Maneuvering Target Using Two Heterogeneous Passive Sensors on a Single Stationary Platform with IMM Estimation

摘要

Bearing-only passive sensors have the advantage of being nondetectable,but they come with target state observability limitations.A new approach, the unscented Gauss-Helmert filter that fuses outof-sequence acoustic measurements (OOSM-A) and electro-optic(EO) measurements (OOSM-AE), has been developed recently tofuse non-delayed and delayed measurements from two heterogeneouspassive sensors on a single platform to overcome these observabilityissues. In this paper, we extend the OOSM-AE approachto use interacting multiple models (IMM) to improve targettracking accuracy when tracking maneuvering targets. The maneuversconsidered are circular motion and S-turns. The resultingIMMOOSM-AE handles the delayed acoustic measurements as outof-sequence measurements. Scenarios are simulated and tested withboth IMMOOSM-AE and OOSM-AE and results are presented.