An Efficient Real Time Implementation of a Fast IMM for Tracking a Manoeuvring Target

In this paper we present a real time implementation of the fast interacting multiple models (IMM) algorithm proposed in [1], and compare it with that of the standard IMM [5], in terms of speed of execution. The implementation is performed on the TMS320C6713 floating-point digital signal processor (DSP), from Texas Instruments. In order to reduce the execution time, the optimization techniques developed by Texas Instruments (TI) as well as some algorithm dependent optimization solutions, proposed by us, are applied.