Maneuvering Target Tracking Algorithm Implementation

This filtering program implements maneuvering target tracking algorithms, including Extended Kalman Filter (EKF) methods and an Interactive Multiple Model (IMM) approach utilizing Unscented Kalman Filter (UKF). The IMMUKF.m program specifically contains system equations for both Constant Velocity (CV) and Constant Acceleration (CA) motion models. The CV model handles non-maneuvering target scenarios with constant velocity assumptions, while the CA model accommodates maneuvering targets with constant acceleration characteristics. The implementation employs sigma point transformation in UKF to handle nonlinear systems more effectively than traditional EKF, and the IMM framework allows seamless switching between different motion models based on maneuvering probabilities. This practical implementation provides valuable insights into filtering techniques for maneuvering target tracking applications, offering hands-on experience with advanced state estimation algorithms.