Maneuvering target tracking using error monitoring and recovery technique in cluttered environment

This paper presents the improved performance of the IMMPDA(interacting multiple model with probabilistic data association) filter with the detecting capability of a maneuvering. In order to detect a maneuvering of a target, an error monitoring and recovery method of perception net is applied to the IMMPDA filter. Both detecting a maneuvering target and compensating the estimated state can be achieved by employing the properly implemented error monitoring and recovery technique. Thus method is derived as an extension of previous results on tracking for a maneuvering target without clutter. The conventional filter (IMMPDA filter) which employs the error monitoring and recovery technique show good tracking performance for a highly maneuvering target as well as it reduces maximum values of estimation errors when maneuvering starts and finishes. The effectiveness of the proposed method is validated through simulations by comparing it with the conventional IMMPDA filter.