IMM Bernoulli Gaussian Particle Filter ?

摘要

The Bernoulli filter (BF) in the interacting multiple model (IMM) framework is proposed for detecting and tracking a maneuvering target. The BF is implemented as a particle filter and embedded in the IMM structure. The communication between the IMM and the BF is achieved through a Gaussian layer. Particles are drawn from the mixture densities at each recursion and the model likelihoods are computed from the filter innovations. Simulations show that the proposed filter outperforms the single model variant and it can effectively choose the correct motion model and estimate the state of the tracked object.