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

Figure 4

The experiment with synthetic data considers a mobile with a heading sensor. Three models are studied: no turn (), left turn (), and right turn (). In area 2, a transition is observed. (a) Synthetic trajectory. (b) Mobile heading during the trajectory. (c) Models probabilities.

(a)

(b)

(c)