Tracking the maneuvering targets using multiple scan joint probabilistic data association algorithm

The paper addresses the multi-target tracking problem for maneuvering targets in cluttered environments. The multiple scan joint probabilistic data association (MJPDA) algorithm is used for the sake of overcoming the problem of clutter points and targets which have joint observation. A comparison between different filtering methods through the sliding window of scans is presented. The problem of maneuvering targets is addressed and a new tracking algorithm which uses the multiple scan JPDA and interacting multiple model (IMM) together is formulated.