Tracking a manoeuvring target using angle-only measurements: algorithms and performance

The paper investigates the problem of manoeuvring target tracking using angular measurements. The target dynamics is modelled by multiple switching models, while the measurements are collected asynchronously from possibly multiple moving platforms. The contribution of the paper is twofold. First a theoretical lower bound of the performance error is derived and analysed. Second, three tracking algorithms are proposed and compared to the theoretical bound. The proposed algorithms include: (i) the interactive multiple model (IMM) algorithm with extended Kalman filters, (ii) the IMM with unscented Kalman filters and (iii) the multi-mode particle filter. (C) 2003 Elsevier Science B.V. All rights reserved.