An IMM Filter Defined in the Linear-Circular Domain, Application to Maneuver Detection with Heading Only

Algorithm 1

CIMM algorithm.

1  foreach  timestep    do

//    Mixing  

2  foreach  model    and model    do  Conditional probability:   ;

3  foreach  model  do

4  Intermediate angle  ;

5  Intermediate concentration parameter  

;

6  end

11  //    Filtering  

7  foreach  model    do

8  Filter prediction  ;

9  Filter correction  ;

10  Model likelihood  ;

11  end

12  foreach  model    do Model probability  ;

11  //    Fusion  

13  Estimated angle  ;

14  Concentration parameter  ;

15  end