Multi-Scan Parametric Target Tracking in Clutter

Abstract

This paper presents a new single-target tracking filter. Similar in structure to track-oriented MHT, the Integrated Track Splitting (ITS) filter is a multi-scan tracking algorithm that, like IPDA, integrates target state estimation with the estimation of target existence. The ITS filter models each track as a set of components, where each component is defined with a unique measurement history which consists of zero or one measurement received each scan. For each component the state estimate and the a-posteriori probability of component existence are computed recursively. After each scan, a new component is formed from each pair of . The probability of the new component existence is the proba..