Considering the four defects of construction and theory of IMMPDA algorithm which is proposed by Y. Bar Shalom and H. A. P. Blom, the authors work out a new Combined IMMPDA algorithm C IMMPDA algorithm.

• 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。