Time-varying smooth variable structure filter based on interactive multi-model

To overcome the problems of jitter and ineffective estimation of the unmeasured target state in the smooth variable structure filter，a time-varying smooth variable structure filter based on interactive multi-model is proposed. Firstly，the target state is estimated through the smooth variable structure filter. Subsequently，the jitter problem is solved by computing the time-varying smooth boundary layer and employing the tanh function instead of the saturation function to calculate the initial state gain. Then，Bayesian formulas are applied to recompute the covariance matrix and state gain to update the target state，effectively addressing the challenge of inefficient estimation of unmeasured states in the smooth variable structure filter. Finally，the algorithm is integrated with the interactive multi-model approach to achieve effective tracking of maneuvering targets. Simulation results demonstrate that the proposed algorithm main⁃ tains its effectiveness in tracking maneuvering targets under the conditions of model mismatch and changes in mea⁃ surement noise or non-Gaussian measurement noise. The simulation results indicate that the method proposed has a significant improvement in tracking accuracy and robustness over typical target tracking methods. © 2024 Chinese Society of Astronautics. All rights reserved.