高速高机动目标的被动定位跟踪在理论上和实践上均有较高的技术难度，传统的定位算法难以同时满足定位精度和实时性的要求。本文以交互式多模型算法(IMM)为框架，根据多速率跟踪(MRT)的思想，实现了模式空间与测量空间的多速率混合滤波，并给出了多速率常高通(CH)和常高高通(CH2)模型的统一表示形式。同时，引入自适应“当前”统计模型对高度机动的运动模型进行刻画，在此基础上，根据各模型假定的机动性，多模型综合选配了粒子滤波算法和卡尔曼滤波算法，从而建立了高速高机动目标的多速率交互式多模型跟踪算法。实验结果表明，与传统的跟踪算法相比，本文算法定位精度高，误差小于4%斜距；运算复杂度低，具有高于25 Hz 的速率更新目标状态的能力。

Since traditional tracking algorithms can hardly meet the requirements of both precision and low computational complexity simultaneously. It is hard to track targets with high speed and high maneuvering both in theory and practice. The Interactive Multi-model (IMM) algorithm with mixed filter between pattern space and measurement space was achieved according to the multi-rate tracking method, and the uniform representations of multi-rate Constant High-pass (CH) model and Constant High-High-pass (CH2) model were given. Meanwhile, according to the maneuver degree of the targets, adaptive "current" statistical model was introduced to describe the high maneuvering target, each model marched Kalman filter and particle filter respectively. And then, the tracking algorithm for high speed and high maneuvering targets based on multi-rate interactive multi-model algorithm was established. Experiment results show that, compared with traditional tracking algorithm, the method can efficiently improve the tracking precision with low computational complexity. It is expected to have great potential for engineering application.