Distributed Multirate Interacting Multiple Model (DMRIMM) Filtering with Out-of-Sequence GMTI Data

This paper develops a distributed approach for fusing GMTI data with out-of-sequence (OOS) measurements. A multirate interacting multiple model (MRIMM) fusion algorithm is developed for e®ectively fusing multirate information. To incorporate an OOS measurement, two major steps are needed: retrospection from current time to OOS time and updating the current estimate with the OOS measurement, which imposes a high computation and memory burden on implementing OOS ̄ltering. The multirate approach provides an excellent framework for e±cient information retrospection and forward update. The combination of global MRIMM fusion and local MRIMM tracking proves to be powerful for tracking and fusing maneuvering and nonmaneuvering targets in an environment of OOS measurement reporting.