关键词: 机动目标跟踪, 交互式多模型, 自回归（AR）预测模型, 无迹卡尔曼滤波器

Abstract: In view of the problem of robust tracking of maneuvering target under LOS/NLOS condition, an IMM algorithm based on AR prediction model is proposed（ARIMM）. AR prediction model is adopted to model the motion state, and UKF and RUKF are utilized separately for the reason that the state LOS and NLOS have different distribution of observation noise, and the IMM filter is used to estimate the position of BS, and the position is used to update the current parameters in AR prediction model and the AR model is made more matched with the true motion state, therefore the algorithm can perform precisely tracking. Simulation result demonstrates that the proposed algorithm performs better robustness under LOS/NLOS condition compared with the traditional UKF and RUKF.

Key words: maneuvering target tracking, Interacting Multiple Model（IMM）, Auto Regressive（AR） prediction model, Unscented Kalman Filter（UKF）