Interactive Multiple Model Filter for Tracking a Pursuer With Proportional Navigation Guidance Law

This paper addresses a pursuer tracking problem where the pursuer's acceleration is given by a proportional navigation (PN) guidance law with a time-varying navigation ratio which varies with the relative range between the pursuer and its target. Based on a motion model that exactly describes the relative motion and the PN guidance law, a novel filter for tracking such a pursuer is designed using interactive multiple model (IMM) algorithm and unscented Kalman filtering (UKF) technique. This filter is able to accurately estimate the relative range, relative velocity, and the acceleration of pursuer even if the pursuer adopts a PN guidance law with time-varying navigation ratio. The proposed tracking method is evaluated in extensive Monte Carlo simulations. It is shown that accurate estimation results have been obtained, and the model probabilities in the IMM UKF filter are consistent with real situations.