说明：  曲线模型的半自适应交互多模型跟踪方法 我存的一篇论文，拿来与大家共享
(When using interactive multiple model (IMM) to track targets,to select smallermodel set to better cover the move- ment 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,whichmake it possible for normal acceleration to be self-adaptively adjusted,hence it reduces the model setto associate onlywithMcurvilinearmodels selatingtotangential acceler- ation.Computation burden is reduced and algorithm’s applying range is extended.The simulation further proves the conclusion )