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通过对交互式多模型（ＩＭＭ）算法和概率数据关联（ＰＤＡ）算法的研究，指出Ｂａｒ－Ｓｈａｌｏｍ和Ｂｌｏｍ等提出的ＩＭＭＰＤＡ算法结构和理论上存在的问题。根据全局最优的思想，设计了一个最优波门，从而得到全局最优的量测集合，保证了系统的理论完整性和结构合理性。推导完成了新的联合ＩＭＭＰＤＡ算法——Ｃ－ＩＭＭＰ－ＤＡ算法。大量仿真计算验证了Ｃ－ＩＭＭＰＤＡ算法在减少计算量的同时，总体性能上较之原ＩＭＭＰＤＡ算法有大幅度提高。
Through the research of interactive multi-model (IMM) algorithm and probabilistic data association (PDA) algorithm, the structures and theoretical problems of IMMPDA proposed by Bar-Shalom and Blom are pointed out. According to the global optimal idea, an optimal wave gate is designed to obtain the global optimal measurement set, which ensures the theoretical integrity and structural rationality of the system. The derivation completed a new joint IMMPDA algorithm - C-IMMP-DA algorithm. A large number of simulation results verify that C-IMMPDA algorithm can greatly reduce the computational complexity and improve the overall performance compared with the original IMMPDA algorithm.