IPDA-PMM algorithm for tracking maneuvering targets in clutter

Presents an algorithm called IPDA-PMM for tracking maneuvering targets in clutter. It combines the IPDA algorithm for data association with tracking filter, PMM (prediction oriented multiple model). The PMM tracking filter belongs to the family of two model a posteriori Bayesian sub-optimal estimation algorithms. All target trajectory models have a common measurement prediction probability density function.