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

<div>Comparison between the maneuvers detected by the IMM and the CIMM. The <svg height="11.439pt" id="M201" style="vertical-align:-2.15067pt" version="1.1" viewbox="-0.0498162 -9.28833 28.5589 11.439" width="28.5589pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M535 230V280H52V230H535Z"></path></g><g transform="matrix(.013,0,0,-0.013,7.631,0)"><path d="M574 449L545 460C526 432 516 430 487 430C404 430 311 435 226 435C104 435 56 379 25 341L43 318C81 354 121 372 181 372C161 246 87 53 23 3L30 -12C48 -12 88 -4 113 11C157 75 207 248 232 371L386 367L326 109C321 86 318 66 318 50C318 4 339 -12 366 -12C410 -12 461 21 505 69L492 96C467 79 434 60 418 60C406 60 400 78 411 147C422 217 439 300 457 366C487 366 524 367 536 370C547 385 558 408 574 449Z"></path></g><g transform="matrix(.013,0,0,-0.013,15.315,0)"><path d="M368 703H309L44 -163H104L368 703Z"></path></g><g transform="matrix(.013,0,0,-0.013,20.676,0)"><path d="M574 449L545 460C526 432 516 430 487 430C404 430 311 435 226 435C104 435 56 379 25 341L43 318C81 354 121 372 181 372C161 246 87 53 23 3L30 -12C48 -12 88 -4 113 11C157 75 207 248 232 371L386 367L326 109C321 86 318 66 318 50C318 4 339 -12 366 -12C410 -12 461 21 505 69L492 96C467 79 434 60 418 60C406 60 400 78 411 147C422 217 439 300 457 366C487 366 524 367 536 370C547 385 558 408 574 449Z"></path></g></svg> transitions are mishandled by the IMM in the areas pointed by the arrows. (a) Detected maneuvers with the IMM filter. (b) Detected maneuvers with the CIMM filter.</div>

Mathematical Problems in Engineering

fig9

Figure 9

Figure 9: An IMM Filter Defined in the Linear-Circular Domain, Application to Maneuver Detection with Heading Only 