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Mathematical Problems in Engineering
Volume 2014, Article ID 649276, 10 pages
Research Article

Models and Algorithms for Tracking Target with Coordinated Turn Motion

Ministry of Education Key Laboratory for Intelligent Networks and Network Security (MOE KLINNS), School of Electronics and Information Engineering, Xi'an Jiaotong University, Xi'an 710049, China

Received 23 July 2013; Accepted 15 December 2013; Published 12 January 2014

Academic Editor: Shuli Sun

Copyright © 2014 Xianghui Yuan et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Tracking target with coordinated turn (CT) motion is highly dependent on the models and algorithms. First, the widely used models are compared in this paper—coordinated turn (CT) model with known turn rate, augmented coordinated turn (ACT) model with Cartesian velocity, ACT model with polar velocity, CT model using a kinematic constraint, and maneuver centered circular motion model. Then, in the single model tracking framework, the tracking algorithms for the last four models are compared and the suggestions on the choice of models for different practical target tracking problems are given. Finally, in the multiple models (MM) framework, the algorithm based on expectation maximization (EM) algorithm is derived, including both the batch form and the recursive form. Compared with the widely used interacting multiple model (IMM) algorithm, the EM algorithm shows its effectiveness.