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The variable structure multiple model (VSMM) approach to the maneuvering target tracking problem is considered. A new VSMM design, the minimal submodel-set switching (MSMSS) algorithm for tracking a maneuvering target is presented. The MSMSS algorithm adaptively determines the minimal set of models from the total model set and uses this to perform multiple model (MM) estimation. In addition, an iterative MSMSS algorithm with improved maneuver detection and termination properties is developed.doi:10.1109/taes.2003.1261123 fatcat:rzdkldcsivgkxlrwy5bzv2qmmy