IMM Robust Cardinality Balance Multi-Bernoulli Filter for Multiple Maneuvering Target Tracking with Interval Measurement

This paper presents a novel Interacting multi-model (IMM) Robust Cardinality balance multitarget multi-Bernoulli (R-CBMeMBer) filter to solve the maneuvering target tracking problem in the case of interval measurement, unknown detection probability and unknown clutter density. In essence, IMM R-CBMeMBer filter is an extended application of R-CBMeMBer filter. In the IMM R-CBMeMBer filter, the target state is first extended to distinguish clutter from the real target. The detection probability and model probability of the target can be adaptively updated. Then, generalized likelihood function and IMM algorithm are introduced to interactively predict and update the state of the target in the IMM R-CBMeMBer filtering process. In addition, a particle application of the IMM R-CBMeMBer filter is given, and a numerical experiment is designed under nonlinear conditions. Meanwhile, Doppler information of the target is employed to estimate the velocity of each maneuvering target. Numerical experiments also verify that the IMM R-CBMeMBer filter can effectively estimate the target position, target velocity, target detection probability and clutter number in the condition of unknown detection probability, unknown clutter rate and interval measurement.