Abstract: This paper proposes an effective method of multi-model（interactive multi-model） tracking maneuvering target. The self-adaptive turning model of maneuvering target tracking is studied. The method of establishing tracking model by calculating the turning rate is summarized. The shortcomings of related literatures’ self-adaptive turning model in actual application are pointed out, with two modeling methods adopting average turning rate presented accordingly. Parameters α and β are introduced to adjust the roughness of turning rate. It estimates turning rate using the method of average value. The simulation test proves the necessity of improvement and the validity of the new model.

Key words: target tracking, tracking model, turning model, model set

摘要： 提出了多模型（交互多模型）跟踪机动目标的一种有效算法。对机动目标跟踪的自适应转弯模型建模方法进行了深入研究，对通过计算转弯率而建立跟踪模型方法进行了总结，指出了相关文献中的自适应转弯模型在实际应用中存在的不足，由此提出了两种采用平均转弯率的建模的方法，即在算法中引入α和β参数调整转弯率的粗糙度，使用平均值的方法估计转弯率。通过仿真试验说明了改进算法的必要性和新建模型的有效性。

关键词: 目标跟踪, 跟踪模型, 转弯模型, 模型集