关键词: 雷达量测，非线性滤波，不敏卡尔曼滤波，不敏卡尔曼平滑，交互式多模型

Abstract: This paper presented the problem of tracking radar measurements of maneuvering target, discussed the kalman smoother, introduced the smooth methods, compared the methods of Unscented Kalman filter with Unscented Kalman smoother, Interacting Multiple Model Filter(IMMF) and Interacting Multiple Model Smoother(IMMF) based on the Multiple Model idea. Meanwhile, for the problem of nonliner based on the radar measurements and the target charicterristic, designed the models of maneuvering target and several radar measurements, compared the classed methods and tested the new methods, experiment results show the effectiveness.

Key words: Radar measurements, Nonlinear filtering, UKF, UKS, Interacting multiple model