DEVELOPMENT OF MULTIRATE MODEL AND MULTIRATE INTERACTING MULTIPLE MODEL ALGORITHM FOR MULTIPLATFORM MULTISENSOR TRACKING

A distributed multirate interacting multiple model (DMRIMM) tracking a lgorithm is developed. The algorithm is based on a reformulation of th e interacting multiple model (IMM) filter under the assumption that ea ch model operates at an update rate proportional to the model's assume d dynamics. A multirate model is derived based on the geometrical inte rpretation of a discrete wavelet transform. A wavelet transform is use d to generate equivalent multirate measurements, which exhibit the add itional property of lower equivalent measurement noise for low-rate da ta. Using this filtering approach, the MRIMM algorithm significantly o utperforms a full-rate IMM filter when no maneuvers occur and moderate ly outperforms the IMM filter when maneuvers occur, Based on the MRIMM algorithm, a distributed version DMRIMM algorithm for multiplatform m ultisensor tracking is proposed. The MRIMM algorithm is first employed to perform each local/platform estimation. A global filter is then co nstructed to perform a fusion of MRIMM estimations. The advantage of p erformance improvement is demonstrated through Monte Carlo simulations . (C) 1998 Society of Photo-Optical instrumentation Engineers.