Underwater Maneuvering Target Tracking Algorithm Based on Interacting Multiple Model Strong Tracking Square-Root Cubature Kalman Filter

In the maneuvering target tracking, the primary problem is to have high stability, strong robustness and convergence for the tracking filtering algorithms. Based on Interacting Multiple Model, and by combining the strong tracking filtering (STF) and the square-root cubature Kalman filtering (SRCKF), an IMM strong tracking square-root cubature Kalman filtering (IMM-ST-SRCKF) was proposed for nonlinear maneuvering target tracking to overcome the precision decreasing and even divergency caused by target maneuvering. The IMM-ST-SRCKF tracking algorithm is based on the combination of the interacting multiple models (IMM) algorithm and strong tracking square-root cubature Kalman filtering (ST-SRCKF) to cope with the underwater maneuvering target tracking problem with the time of arrive (TOA) measurements. The simulation result demonstrate that the proposed algorithm provides better tracking precision comparing with the other algorithms.