为借助飞机姿态角提高跟踪性能，在一种改进的IMM算法基础上，一方面，对飞机处于各运动模型时姿态角的变化规律进行分析，利用姿态角求解角度变化率来实时更新模型集；另一方面，通过在姿态角滤波过程中加入机动检测和极性判别，提升了离散点过程滤波器的输入量测值的精度。之后，提出了一种基于飞机姿态角辅助的交互式多模型跟踪算法。仿真验证了该算法的精度。

In order to improve the tracking performance by use of the pose-angle of plane, an improved Interactive Multi-Mode(IMM) algorithm was studied. The changing pattern of the pose-angle when the plane was at different motion mode was analyzed, and the angle change ratio was calculated based on the pose-angle to update the model set in real time. On the other hand, maneuvering detection and polarity judgment were introduced into the process of pose-angle filtering, and thus to improve the measurement accuracy of the input of the discrete-point process filter. And then an IMM tracking algorithm aided by pose-angle of plane was proposed. Simulation demonstrated the accuracy of this algorithm.