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Specific Features of IMM Tracking Filter Design

The Interacting Multiple Model (IMM) estimator is a suboptimal hybrid filter that has been shown to be one of the most cost-effective hybrid state estimation schemes. The model of hybrid system and the IMM algorithm, initially proposed by Blom, may serve as a basis for synthesis of more efficient filters for tracking maneuvering aircraft. In this paper we present a number of specific features of the IMM design procedure. In section 2 we briefly describe the hybrid system (aircraft dynamics), hybrid estimation and the principle of the IMM algorithm. The models used in the IMM configuration to describe different flight phases and the measurement model used for our application are presented in sections 3 and 4 respectively. Section 5 provides a detailed discussion on the specific features of the IMM algorithm design. Finally, some examples of IMM tracking filter design and performance evaluation are presented in section 6.