Unmanned surface vehicle target tracking method based on SWA-IMM
In order to solve the problem that the tracking accuracy of maneuvering objects decreases due to the use of fixed motion model sets in the standard interactive multiple model(IMM)algorithm,an interactive multi-model set adapta-tion based on sliding window filtering algorithm(SWA-IMM)is proposed in this paper.By calculating the model matching probability between the target and different models in the current model set,the best matching model is determined by slid-ing window decision method,and the weight of the best matching model in the model set is changed to achieve the adaptive process of the model set.The experimental results show that the SWA-IM algorithm proposed can improve the accuracy of maneuvering target tracking for USV to a certain extent.
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