When using interactive multiple model (IMM) to track targets

to select smaller model set to better cover the movement property and the maneuvering level of various targets and meanwhile to reduce computation complexity are both worthwhile and also necessary research tasks to project implementation.The main work is done through the IMM algorithm of curvilinear model

the construction of angle velocity estimation model and the extension of it to state equations

which make it possible for normal acceleration to be self-adaptively adjusted

hence it reduces the model set to associate only with

M

curvilinear models selating to tangential acceleration.Computation burden is reduced and algorithm's applying range is extended.The simulation further proves the conclusion.