A Constant Speed Changing Rate and Constant Turn Rate Model for Maneuvering Target Tracking

This paper addresses the problem of modeling maneuvering target motion in tracking applications. A target trajectory can typically be divided into segments with different dynamic motion modes, such as a constant velocity motion, a constant acceleration motion or a constant turn rate motion. To integrate the different motion modes into a uniform model, a Constant Speed Changing Rate and Constant Turn Rate (CSCRCTR) model is proposed. A new state vector is defined, and the state transition function is derived. Based on the CSCRCTR model, we present a tracking algorithm using a particle filter. The performances of the CSCRCTR model, the uniform model (UM) and the interacting multiple model (IMM) for tracking a simulated maneuvering target are compared and show that the CSCRCTR model maintains a good consistency for different types of motions and achieves better accuracy than UM and IMM when maneuvers occur.