Target Tracking Using the Interactive Multiple Model Method

Aim To develop a practical target tracking algorithm for different motion modes. Methods After creation of the new model, it was implemented by computer simulation to prove its performance and compared with the often-used current statistical model. Results The simulation results show that the new IMM (interactive multiple model) have low tracking error in both maneuVering segment and non^Inaneuwi segment while the current statistical model bas muCh higher tracking error in non-maneuvering segment. Conclusion In the point of trackintaccuracy, the new IMM method is much better than the current acceleration method. It can develop into a practical target hacking method.

An interacting multiple model-based two-stage Kalman filter for vehicle positioning

To address the problem that a general augmented state Kalman filter or a two-stage Kalman filter cannot achieve satisfactory positioning performance when facing uncertain noise of the micro-electro-mechanical system（MEMS） inertial sensors, a novel interacting multiple model-based two-stage Kalman filter（IMM-TSKF） is proposed to adapt to the uncertain inertial sensor noise. Three bias filters are developed based on different noise characteristics to cover a wide range of noise levels. Then, an accurate estimation of biases is calculated by the interacting multiple model algorithm to correct the bias-free filter. Thus, the vehicle positioning system can achieve good performance when suffering from uncertain inertial sensor noise. The experimental results indicate that the average position error of the proposed IMMTSKF is 25% lower than that of the general TSKF.

Efficient Graph-based Genetic Programming Representation with Multiple Outputs

In this work, we explore and study the implication of having more than one output on a genetic programming （GP） graph-representation. This approach, called multiple interactive outputs in a single tree （MIOST）, is based on two ideas. First, we defined an approach, called interactivity within an individual （IWI）, which is based on a graph-GP representation. Second, we add to the individuals created with the IWI approach multiple outputs in their structures and as a result of this, we have MIOST. As a first step, we analyze the effects of IWI by using only mutations and analyze its implications （i.e., presence of neutrality）. Then, we continue testing the effectiveness of IWI by allowing mutations and the standard GP crossover in the evolutionary process. Finally, we tested the effectiveness of MIOST by using mutations and crossover and conducted extensive empirical results on different evolvable problems of different complexity taken from the literature. The results reported in this paper indicate that the proposed approach has a better overall performance in terms of consistency reaching feasible solutions.

Enhanced Ion-Selective Diffusion Achieved by Supramolecular Interaction for High Thermovoltage and Thermal Stability

Thermoelectric(TE)generators capable of converting thermal energy into applicable electricity have gained great popularity among emerging energy conversion technologies.Biopolymer-based ionic thermoelectric(i-TE)materials are promising candidates for energy conversion systems because of their wide sources,innocuity,and low manufacturing cost.However,common physically crosslinked biopolymer gels induced by single hydrogen bonding or hydrophobic interaction suffer from low differential thermal voltage and poor thermodynamic stability.Here,we develop a novel i-TE gel with supramolecular structures through multiple noncovalent interactions between ionic liquids(ILs)and gelatin molecular chains.The thermopower and thermoelectric power factor of the ionic gels are as high as 2.83 mV K-1 and 18.33μW m^(-1)K^(-2),respectively.The quasi-solid-state gelatin-[EMIM]DCA i-TE cells achieve ultrahigh 2 h output energy density(E_(2h)=9.9 mJ m^(-2))under an optimal temperature range.Meanwhile,the remarkable stability of the supramolecular structure provides the i-TE hydrogels with a thermal stability of up to 80℃.It breaks the limitation that biopolymer-based i-TE gels can only be applied in the low temperature range and enables biopolymer-based i-TE materials to pursue better performance in a higher temperature range.

Maneuvering target tracking using threshold interacting multiple model algorithm

To avoid missing track caused by the target maneuvers in automatic target tracking system, a new maneuvering target tracking technique called threshold interacting multiple model （TIMM） is proposed. This algorithm is based on the interacting multiple model （IMM） method and applies a threshold controller to improve tracking accuracy. It is also applicable to other advanced algorithms of IMM. In this research, we also compare the position and velocity root mean square （RMS） errors of TIMM and IMM algorithms with two different examples. Simulation results show that the TIMM algorithm is superior to the traditional IMM alzorithm in estimation accuracy.

Using interacting multiple model particle filter to track airborne targets hidden in blind Doppler

In airborne tracking,the blind Doppler makes the target undetectable,resulting in tracking difficulties. In this paper,we studied most possible blind-Doppler cases and summed them up into two types:targets' intentional tangential flying to radar and unintentional flying with large tangential speed. We proposed an interacting multiple model(IMM) particle filter which combines a constant velocity model and an acceleration model to handle maneuvering motions. We compared the IMM particle filter with a previous particle filter solution. Simulation results showed that the IMM particle filter outperforms the method in previous works in terms of tracking accuracy and continuity.

Interacting Multiple Model Algorithm with the Unscented Particle Filter (UPF)

Combining interacting multiple model （IMM） and unscented particle filter （UPF）, a new multiple model filtering algorithm is presented. Multiple models can be adapted to targets＇ high maneu- vering. Particle filter can be used to deal with the nonlinear or non-Gaussian problems and the unscented Kalman filter （UKF） can improve the approximate accuracy. Compared with other interacting multiple model algorithms in the simulations, the results demonstrate the validity of the new filtering method.

Method for Underwater Target Tracking Based on an Interacting Multiple Model

According to the requirements of real-time performance and reliability in underwater maneuvering target tracking as well as clarifying motion features of the underwater target, an interacting multiple model algorithm based on fuzzy logic inference （FIMM） is proposed. Maneuvering patterns of the target are represented by model sets, including the constant velocity model （CA）, the Singer mode~, and the nearly constant speed horizontal-turn model （HT） in FIMM technology. The simulation results show that compared to conventional IMM, the reliability and real-time performance of underwater target tracking can be improved by FIMM algorithm.

An Algorithm of the Adaptive Grid and Fuzzy Interacting Multiple Model

This paper studies the algorithm of the adaptive grid and fuzzy interacting multiple model （AGFIMM） for maneuvering target tracking, while focusing on the problems of the fixed structure multiple model （FSMM） algorithm＇s cost-efficiency ratio being not high and the Markov transition probability of the interacting multiple model （IMM） algorithm being difficult to determine exactly. This algorithm realizes the adaptive model set by adaptive grid adjustment, and obtains each model matching degree in the model set by fuzzy logic inference. The simulation results show that the AGFIMM algorithm can effectively improve the accuracy and cost-efficiency ratio of the multiple model algorithm, and as a result is suitable for enineering apolications.

Multiple Model Filtering in the Presence of Gaussian Mixture Measurement Noises

A simplified multiple model filter is developed for discrete-time systems inthe presence of Gaussian mixture measurement noises. Theoretical analysis proves that the proposedfilter has the same estimation performance as the interacting multiple model filter at the price ofless computational cost. Numerically robust implementation of the filter is presented to meetpractical applications. An example on bearings-only guidance demonstrates the effect of the proposedalgorithm.

A novel maneuvering multi-target tracking algorithm based on multiple model particle filter in clutters

To solve the problem of strong nonlinear and motion model switching of maneuvering target tracking system in clutter environment, a novel maneuvering multi-target tracking algorithm based on multiple model particle filter is presented in this paper. The algorithm realizes dynamic combination of multiple model particle filter and joint probabilistic data association algorithm. The rapid expan- sion of computational complexity, caused by the simple combination of the interacting multiple model algorithm and particle filter is solved by introducing model information into the sampling process of particle state, and the effective validation and utilization of echo is accomplished by the joint proba- bilistic data association algorithm. The concrete steps of the algorithm are given, and the theory analysis and simulation results show the validity of the method.

Entanglement Entropy Signature of Quantum Phase Transitions in a Multiple Spin Interactions Model

Through the Jordan Wigner transformation, the entanglement entropy and ground state phase diagrams of exactly solvable spin model with alternating and multiple spin exchange interactions are investigated by means of Green＇s function theory. In the absence of four-spin interactions, the ground state presents plentiful quantum phases due to the multiple spin interactions and magnetic fields. It is shown that the two-site entanglement entropy is a good indicator of quantum phase transition （QPT）. In addition, the alternating interactions can destroy the magnetization plateau and wash out the spin-gap of low-lying excitations. However, in the presence of four-spin interactions, apart from the second order QPTs, the system manifests the first order OPT at the tricritical point and an additional new phase called ＂spin waves＂, which is due to the collapse of the continuous tower-like low-lying excitations modulated by the four-spin interactions for large three-spin couplings.

ADAPTIVE MULTIPLE MODEL FILTER USING IMM AND STF

In fault identification, the Strong Tracking Filter (STF) has strong ability to track the change of some parameters by whitening filtering innovation. In this paper, the authors give out a modified STF by searching the fading factor based on the Least Squared Estimation. In hybrid estimation, the well known Interacting Multiple Model (IMM) Technique can model the change of the system modes. So one can design a new adaptive filter — SIMM. In this filter, our modified STF is a parameter adaptive part and IMM is a mode adaptive part. The benefit of the new filter is that the number of models can be reduced considerably. The simulations show that SIMM greatly improves accuracy of velocity and acceleration compared with the standard IMM to track the maneuvering target when 2 model conditional estimators are used in both filters. And the computation burden of SIMM increases only 6% compared with IMM.

Synchronization Dynamics in a System of Multiple Interacting Populations of Phase Oscillators

We study the synchronization dynamics in a system of multiple interacting populations of phase oscillators. Using the dimensionality-reduction technique of Ott and Antonsen, we explore different types of synchronization dynamics when the incoherent state becomes unstable. We find that the inter-population coupling is crucial to the synchronization. When the intra-population interaction is repulsive, the local synchronization can still be maintained through the inter-population coupling. For attractive inter-population coupling, the local order parameters in different populations are of in-phase while the local synchronization are of anti-phase for repulsive inter-population coupling.

Application of interacting multiple model in integrated positioning system of vehicle

To solve low precision and poor stability of the extended Kalman filter （EKF） in the vehicle integrated positioning system owing to acceleration, deceleration and turning （hereinafter referred to as maneuvering） , the paper presents an adaptive filter algorithm that combines interacting multiple model （IMM） and non linear Kalman filter. The algorithm describes the motion mode of vehicle by using three state spacemode]s. At first, the parallel filter of each model is realized by using multiple nonlinear filters. Then the weight integration of filtering result is carried out by using the model matching likelihood function so as to get the system positioning information. The method has advantages of nonlinear system filter and overcomes disadvantages of single model of filtering algorithm that has poor effects on positioning the maneuvering target. At last, the paper uses IMM and EKF methods to simulate the global positioning system （OPS）/inertial navigation system （INS）/dead reckoning （DR） integrated positioning system, respectively. The results indicate that the IMM algorithm is obviously superior to EKF filter used in the integrated positioning system at present. Moreover, it can greatly enhance the stability and positioning precision of integrated positioning system.

One compound approach combining factor-analytic model with AMMI and GGE biplot to improve multi-environment trials analysis

To improve multi-environmental trial(MET)analysis,a compound method—which combines factor analytic(FA)model with additive main effect and multiplicative interaction(AMMI)and genotype main effect plus genotype-by-environment interaction(GGE)biplot—was conducted in this study.The diameter at breast height of 36 open-pollinated(OP)families of Pinus taeda at six sites in South China was used as a raw dataset.The best linear unbiased prediction(BLUP)data of all individual trees in each site was obtained by fitting the spatial effects with the FA method from raw data.The raw data and BLUP data were analyzed and compared by using the AMMI and GGE biplot.BLUP results showed that the six sites were heterogeneous and spatial variation could be effectively fitted by spatial analysis with the FA method.AMMI analysis identified that two datasets had highly significant effects on the site,family,and their interactions,while BLUP data had a smaller residual error,but higher variation explaining ability and more credible stability than raw data.GGE biplot results revealed that raw data and BLUP data had different results in mega-environment delineation,test-environment evaluation,and genotype evaluation.In addition,BLUP data results were more reasonable due to the stronger analytical ability of the first two principal components.Our study suggests that the compound method combing the FA method with the AMMI and GGE biplot could improve the analysis result of MET data in Pinus teada as it was more reliable than direct AMMI and GGE biplot analysis on raw data.

Consecutive tracking for ballistic missile based on bearings-only during boost phase

This paper proposes a modified centralized shifted Rayleigh filter（MCSRF） algorithm for tracking boost phase of ballistic missile（BM） trajectory with a highly nonlinear dynamical model based on bearings-only.This paper contributes three folds.Firstly,the mathematical model of an MCSRF for multiple passive sensors is derived.Then,minimum entropy based onedimensional optimization search to adaptively adjust the probability of the different filters for real time state estimation is deployed.Finally,the unscented transform（UT） is introduced to resolve the asymmetric state estimation problem.Simulation results show that the proposed algorithm can consecutively track the BM precisely during the boost phase.In comparison with the unscented Kalman filter（UKF） algorithm,the proposed algorithm effectively reduces the tracking position and velocity root mean square（RMS） errors,which will make more sense for early precision interception.

Detection and Analysis of High Temperature Sensitivity of TGMS Lines in Rice Using AMMI Model

With the AMMI (additive main effects and multiplicative interaction) analysis model, thedetermination of the sensitivity to temperature among different TGMS (thermo-sensitivegenic male sterile) lines was performed. To assess the genetic differences due to hightemperature stress at the fertility-sensitive stage (10-20d before heading), sevengenotypes (six TGMS lines and the control Pei-Ai64S) were grown from May 4 at sevendifferent stages with 10d intervals. The temperatures at the fertility-sensitive stagesinvolved twelve levels from<20 to>℃ under the regime natural conditions in Hangzhou,China. There was considerable variation in pollen fertility among genotypes in responseto high temperature. Five genotypes identified as TGMS lines as their percentages offertile pollens were lower than or close to that of the control except for the unstableline RTS19 (V6). When the temperatures at the fertility-sensitive stage were at Ⅰ-Ⅳ,Ⅴ-Ⅵ and Ⅶ-Ⅻ, the percentages of fertile pollens varied in the ranges of 46.46-48.49%,19.62-22.79% and 3.49-5.87%, respectively. The critical temperatures of sterility andfertility in the five TGMS lines were 25.1 and 23.0℃, respectively. Considering theamounts and directions of main effect and their IPCA (interaction principal componentsanalysis), we can classify the lines and temperature levels into different groups, anddescribe the characteristics of genotypetemperature interaction, offering the informationand tools for the development and utility of thermo-sensitive male sterile lines.Several TGMS rice lines with their reproductive sensitivity to high temperature that canbe screened using the AMMI model may add valuable germplasm to the breeding program ofhybrid rice.

An unscented particle filter for ground maneuvering target tracking

In this study, an unscented particle filtering method based on an interacting multiple model (IMM) frame for a Markovian switching system is presented. The method integrates the multiple model (MM) filter with an unscented particle filter (UPF) by an interaction step at the beginning. The framework (interaction/mixing, filtering, and combination) is similar to that in a standard IMM filter, but an UPF is adopted in each model. Therefore, the filtering performance and degeneracy phenomenon of particles are improved. The filtering method addresses nonlinear and/or non-Gaussian tracking problems. Simulation results show that the method has better tracking performance compared with the standard IMM-type filter and IMM particle filter.

Novel sensor selection strategy for LPI based on an improved IMMPF tracking method

Sensor platforms with active sensing equipment such as radar may betray their existence, by emitting energy that will be intercepted by enemy surveillance sensors. The radar with less emission has more excellent performance of the low probability of intercept（LPI）. In order to reduce the emission times of the radar, a novel sensor selection strategy based on an improved interacting multiple model particle filter（IMMPF） tracking method is presented. Firstly the IMMPF tracking method is improved by increasing the weight of the particle which is close to the system state and updating the model probability of every particle. Then a sensor selection approach for LPI takes use of both the target＇s maneuverability and the state＇s uncertainty to decide the radar＇s radiation time. The radar will work only when the target＇s maneuverability and the state＇s uncertainty exceed the control capability of the passive sensors. Tracking accuracy and LPI performance are demonstrated in the Monte Carlo simulations.