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Appl. Sci. 2017, 7(10), 1003; doi:10.3390/app7101003

A Cubature-Principle-Assisted IMM-Adaptive UKF Algorithm for Maneuvering Target Tracking Caused by Sensor Faults

1
Aeronautics and Astronautics Engineering College, Air Force Engineering University, Xi’an 710038, China
2
Astronautics College, Northwestern Polytechnic University, Xi’an 710072, China
*
Authors to whom correspondence should be addressed.
Received: 20 July 2017 / Revised: 2 September 2017 / Accepted: 26 September 2017 / Published: 28 September 2017
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Abstract

Aimed at solving the problem of decreased filtering precision while maneuvering target tracking caused by non-Gaussian distribution and sensor faults, we developed an efficient interacting multiple model-unscented Kalman filter (IMM-UKF) algorithm. By dividing the IMM-UKF into two links, the algorithm introduces the cubature principle to approximate the probability density of the random variable, after the interaction, by considering the external link of IMM-UKF, which constitutes the cubature-principle-assisted IMM method (CPIMM) for solving the non-Gaussian problem, and leads to an adaptive matrix to balance the contribution of the state. The algorithm provides filtering solutions by considering the internal link of IMM-UKF, which is called a new adaptive UKF algorithm (NAUKF) to address sensor faults. The proposed CPIMM-NAUKF is evaluated in a numerical simulation and two practical experiments including one navigation experiment and one maneuvering target tracking experiment. The simulation and experiment results show that the proposed CPIMM-NAUKF has greater filtering precision and faster convergence than the existing IMM-UKF. The proposed algorithm achieves a very good tracking performance, and will be effective and applicable in the field of maneuvering target tracking. View Full-Text
Keywords: maneuvering target tracking; interacting multiple model (IMM); unscented Kalman filter (UKF); Gaussian distribution; sensor fault; cubature principle; adaptive matrix gene maneuvering target tracking; interacting multiple model (IMM); unscented Kalman filter (UKF); Gaussian distribution; sensor fault; cubature principle; adaptive matrix gene
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Zhou, H.; Zhao, H.; Huang, H.; Zhao, X. A Cubature-Principle-Assisted IMM-Adaptive UKF Algorithm for Maneuvering Target Tracking Caused by Sensor Faults. Appl. Sci. 2017, 7, 1003.

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