Patent ID: 6726146
Filing Date: 2004-04-27
Classification: F42B,G01S

Abstract:
A method of maneuvering target tracking by combining Variable Sampling Rate Technique with Modified Interacting Multiple Model algorithm having the innovation covariance Sj (k)=Hj (k)[Pj (kâˆ’1 |k|1)+&xgr;j Ã—Qj (k)]Hj (k)T +Rj (k), Sj (k) being the innovation covariance, Hj (k) being the measurement matrix, Pj (kâˆ’1 |kâˆ’1) being the state prediction covariance, Rj (k) being the measurement noise covariance, &xgr;j is the adaptive factor and Qj (k) is the process noise covariance, comprising the steps of:(a) increasing sampling rate when target is in high-g maneuvering state and increasing adaptive factor &xgr;j to scale up process noise covariance Qj (k) such that the innovation covariance Sj (k) is increased to adapt to the high-g maneuvering state; and (b) decreasing sampling rate when target is in constant speed and decreasing adaptive factor &xgr;j to scale down process noise covariance Qj (k) such that the innovation covariance Sj (k) is decreased to adapt to the constant speed state.