Interacting Multiple Model Algorithms for Manoeuvring Ship Tracking Based On New Ship Models

Tracking of manoeuvring targets is a problem of a great practical and theoretical interest. The real-world tracking applications meet a number of difficulties caused by the presence of different kinds of uncertainty due to the unknown or not precisely known system model and random processes’ statistics or because of their abrupt changes. 2-5, 9 These problems are especially complicated in the marine navigation practice, 7, 14, 15, 19 where the commonly used simple models of rectilinear or curvilinear target motions do not match the highly non-linear dynamics of the manoeuvring ship. A solution of these problems is to derive more adequate descriptions of the real ship dynamics and to design adaptive estimation algorithms.