Modeling of Unresolved Measurements for Multitarget Tracking

The tracking of multiple targets requires a model for the situation where the measurements from the two (or more) targets are merged into one due to an inherent resolution threshold. A model for the merged measurement is proposed and the resulting pdf is evaluated numerically. Analytical expressions for the first two moments of a merged measurement are presented. The envisioned application of these results is for the augmentation of the JPDA algorithm to handle in a more realistic manner the situation when measured variables from multiple targets are close to each other.