Abstract：A multi-missile cooperative passive localisation algorithm was proposed to address air manoeuvring targets' localisation and tracking problem based on the interacting multiple models and square root cubature Kalman filter (IMM-SRCKF). First, the movement of the manoeuvring target was analysed, and its equations were determined. Then, the state-space model of the multi-missile cooperative scenario was established, and the passive localisation algorithm was designed as follows. The square root cubature Kalman filter was used to improve the localisation accuracy of the algorithm and keep the covariance matrix positively characterised. The interacting multiple model algorithm resolved the filter divergence problem caused by the target model mismatch. The simulation results show that the IMM-SRCKF algorithm can effectively utilise the measurements of various missiles to accomplish cooperative passive localisation of manoeuvring targets with good positioning accuracy and robustness.
