Adaptive switching between JPDA and set JPDA algorithms based on validation gates

The joint probabilistic data association filter (JPDAF) algorithm is used for tracking multiple targets in clutter. The set JPDA (SJPDA) is a modified version of JPDA filter which is used for tracking targets when they are closely spaced where the JPDA filter fails to track. In this paper, a new method is introduced to switch between these two algorithms for tracking targets based on the validation gates of the tracks. The JPDAF and Set JPDA algorithms are summarized and switching criterion is explained. Finally, the switching criterion is evaluated on three different tracking scenarios. The results show that the switching technique provides better tracking performance than the JPDA filter.