中文摘要：

结合道路网目标典型运动模态和道路信息，建立了受道路约束时的机动目标运动状态模型集；针对单个观测平台跟踪道路网上机动目标时容易出现目标跟丢，提出了空中和地面观测平台对道路网上机动目标的纯角度协同跟踪方法；基于自适应外推和最小二乘估计算法对观测信息进行初处理，结合目标状态模型集和道路约束信息，给出了基于交互式多模型（IMM）的道路网机动目标跟踪滤波算法，实现了对道路网上机动目标的连续高精度跟踪，仿真结果验证了所提方法的有效性。

英文摘要：

In this paper, based on typical motion modes and road network information, the dynamic model of maneuvering target on road network is established. Aiming at the problem that the target is easy to be lost when a single observation platform is used to track the moving target on road network, this paper presents an cooperative tracking approach using aerial and ground observation platforms for the maneuvering target on the road network. Based on the adaptive extrapolation and least square estimation algorithms, combined the target state model set and road network information, this paper proposes an IMM based algorithm for tracking the maneuvering target of road network. The high tracking precision of maneuvering targets on road network is obtained, and simulation results verify the effectiveness of the proposed method.