A PDF multisensor multitarget tracker

A previously presented probability density function (pdf) multitarget tracker is extended to a more complex and difficult problem. The input data is bearing measurements from multiple sensors over time, which includes clutter (false alarms) and true measurements (from detected targets) with errors. Targets may be missed. The output is the real-time determination of the number of targets present and their geographic x,y location. The implementation is the recursive numerical computation of the discrete pdf of each target and is derived from the conceptual joint pdf of all targets