A Single Lag Smoothing Technique for Track Maintenance in Clutter

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Conference Proceeding
Proceedings of the 2004 IEEE Conference on Cybernetics and Intelligent Systems (CIS2004), 2004, pp. 1265 - 1269
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We introduce a multi-target smoothing algorithm based on the integrated probabilistic data association (IPDA) filter. IPDA jointly estimates both the target state and its existence. An expression for a single lag smoothing of track existence is derived in this paper. This algorithm can be viewed as a extension to PDA smoothing where, combined with the PDA smoothing, a recursive formulation for one lag smoothing of track existence is incorporated. Simulation results show that the new algorithm can track multiple targets in a cluttered environment providing a better estimate for both the track states and existence. The result could be of great significance for situation awareness
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