Two-layer IMM tracking algorithm for turn maneuver
转弯机动目标的两层交互多模型跟踪算法

A novel two-layer interactive multiple model (IMM) tracking algorithm for turn maneuver is proposed. It contains the inner layer and the outer layer. The inner layer is composed of current statistical model and constant velocity model. The central angular velocity for outer layer can be attained by filtering the heading angle of target. The outer counterpart is composed by constant turn models, in which the angular velocity set includes the central angular velocity and symmetric angular velocity. The latter is computed by the ratio of the target acceleration and velocity. Because of the reasonable design of the angular velocity set, the tracking precision for turn maneuver is improved significantly. Experiment demonstrates the efficiency of the proposed algorithm.