Integrated probabilistic data association in clutter with finite resolution sensor

This paper considers the problem of forming and maintaining tracks when measurements have both uncertain origin and are limited by finite resolution. The integrated probabilistic data association-finite resolution (IPDA-FR) algorithm is presented for the no a-priori clutter information situation. The algorithm consists of a set of recursive formulae for data association and probability of track existence, thus enabling automatic track initiation and track maintenance. Simulation results comparing the performance of IPDA-FR with the IPDA algorithm are presented