Models and Algorithms for Tracking Target with Coordinated Turn Motion

Tracking target with coordinated turn (CT) motion is highly dependent on the models and algorithms. First, the widely used models are compared in this paper—coordinated turn (CT) model with known turn rate, augmented coordinated turn (ACT) model with Cartesian velocity, ACT model with polar velocity, CT model using a kinematic constraint, and maneuver centered circular motion model. Then, in the single model tracking framework, the tracking algorithms for the last four models are compared and the suggestions on the choice of models for different practical target tracking problems are given. Finally, in the multiple models (MM) framework, the algorithm based on expectation maximization (EM) algorithm is derived, including both the batch form and the recursive form. Compared with the widely used interacting multiple model (IMM) algorithm, the EM algorithm shows its effectiveness.