Research of improved probability data association algorithm for multi-target tracking

An improved probabilistic data association is proposed to overcome both the drawback of complication in joint probabilistic data association and the unneutrality of multi-targets processing by probabilistic data association. It incorporates the radar Doppler measurement information and modifies weighting of state estimation of measurements in the common region, and then makes the final estimation more exact and improves further performance. The theoretical analysis and Monte-Carlo simulation results show that the algorithm has small computation cost and a better real-time tracking performance.