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

Figure 6

(a) IMM models probabilities in area 1. (b) CIMM models probabilities in area 1. (c) IMM models probabilities in area 2. (d) CIMM models probabilities in area 2. Unlike the IMM in (c), the CIMM models probabilities in (d) are not affected by the transition at .

(a)

(b)

(c)

(d)