IEEE Aerospace and Electronic Systems Magazine - June 2020 - 71

Gurbuz et al.
Table 3.

Table 4.

IMS Algorithm

Cognitive Tracking Algorithm with MRA Mode Selection

Initialization: m 0 ;

Initialization:



f^0þ ðxd Þ ¼ q0 ðxd Þ

Set i ¼ 0 and c0 ¼ CRLB for m 0

Motion Update:
P
À
^þ
f^k ðxm Þ= D
r¼1 qðxd jxr Þfk ðxr Þ

While ModeChange=1 and CRLBChange = 1
ms ¼ mi

Controller Optimizer:
PD
^À
xÀ
k ¼
d¼1 xd fk ðxd Þ

for n ¼ 1 : N
for ' ¼ 1 : L
m t ¼ ½m
ms ð1 : n À 1Þ;

';

Solve mk using IMS at x À
k

ms ðn þ 1 : Nފ

Measurement

cð'Þ ¼ CRLB for mt

Obtain measurements zk using the mode mk

end

Information Update

's ¼ arg minðccÞ and cs ¼ minðccÞ

^À

fðzz jx ;m
m Þf ðx Þ
f^kþ ðxd Þ ¼ PD k d k k ^mÀ

m s ðnÞ ¼ 's

0

d ¼1

fðzzk jx 0 ;m
mk Þfk ðx 0 Þ
d

d

end
ModeChange ¼ 0 if m s ¼¼ mi
CRLBChange ¼ 0 if c i À cs < 
i ¼ i þ 1 and mi ¼ ms
End while loop
Output: ms ;

Fm ¼

cs

2T



IEEE Aerospace and Electronic Systems Magazine - June 2020
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