Tracking of multiple maneuvering targets in clutter using IMM/JPDA filtering and fixed-lag smoothing

We consider the problem of tracking multiple maneuvering targets in clutter using switching multiple target motion models. A suboptimal filtering algo rithm is developed by applying the basic interacting multiple model (IMM) a pproach and the joint probabilistic data association (JPDA) technique to a Markovian switching system. A suboptimal fixed-lag smoothing algorithm is d eveloped by applying the IMM and the JPDA approaches to a state-augmented s ystem. The algorithms are illustrated via a simulation example involving tr acking of two highly maneuvering targets. (C) 2000 Elsevier Science Ltd. Al l rights reserved.