Multisensor-Based Maneuvering Target Tracking Algorithm under Non-Gaussian Measurement Noise

Abstract

Abstract The UAVs have become a huge threat in the battlefield. The excellent maneuverability makes them competent for the actual combat operations such as investigation and strike. Therefore, accurate tracking of UAVs is critical. Centralized radar/IR fusion system has been widely concerned to track the UAVs because of the complementary characteristics between these two sensors. The appearance of non-Gaussian measurement noise produces a negative impact on tracking accuracy. This paper proposes a novel IMM-CMCSCKF algorithm which can improve the tracking accuracy of radar/IR fusion system for maneuvering target under non-Gaussian measurement noise. The heterogeneous measurements from radar and IR are firstly fused. Then, CMCSCKF algorithm is presented based on MCC to deal with non-Gaussian measurement noise. To improve maneuvering target tracking accuracy, CMCSCKF is embed into IMM algorithm. Numerical simulation verifies the effectiveness of the proposed IMM-CMCSCKF.