Optimal Removal of Out-of-Sequence Measurements from Tracks

In real-world tracking systems some earlier measurements that have been used to update a track might be reassigned to other tracks and then there is a need to remove such measurements from the track under consideration. This paper presents the optimal solution to the problem of removing earlier measurements from tracks. The optimal algorithm yields significantly better results than the previous (suboptimal) "one-step" solution, especially when the measurement to be removed is (nearly) an outlier.