Adaptive Interacting Multiple Model Unscented Particle Filter Tracking Algorithm

Abstract

In order to study the tracking problem of maneuvering image sequence target in complex environment with multi-sensor array, the adaptive interacting multiple model unscented particle filter algorithm based on measured residual is proposed. The motion array tracking system dynamic model is established, and initialized probability density function also is defined based on unscented transformation, after that, the measured covariance and state covariance are online adjusted by measured residual and adaptive factor, then the self-adapting capability of filter gain and the real-time capability of posterior probability density function are improved. Finally, the simulation results between different algorithms show the validity and superiority of the presented algorithm in tracking accuracy, stability and real-time capability.