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The paper considers the problem of tracking multiple maneuvering targets in the presence of clutter using switching multiple target motion models. A novel suboptimal filtering algorithm is developed by applying the basic interacting multiple model (IMM) approach and the joint probabilistic data association (JPDA) technique. Unlike the standard single-scan JPDA approach, the authors exploit a multiscan joint probabilistic data association (mscan-JPDA) approach to solve the data association problem. The algorithm is illustrated via a simulation example involving tracking of four maneuvering targets and a multiscan data window of length two 相似文献
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