Integrated track splitting suite of target tracking filters

This paper presents new algorithms for multi-scan, single target and multi target tracking in clutter. The algorithms from the Integrated Track Splitting (ITS) family of filters model each track as a set of components, where each component has a unique measurement history which consists of zero or one measurement received each scan. For each component, as well as for each track, the state estimate and the a-posteriori probability of component existence are computed recursively. Three algorithms are presented in this paper. The ITS filter is a single target tracking algorithm. The Joint ITS (JITS) filter is a multi target tracking algorithm which calculates the a-posteriori probabilities of all possible measurement-to-track assignments, from which a- \posteriori probabilities of component and track existence are computed. In each scan, the number of assignments grows exponentially in the number of tracks and the num-ber of measurements involved. The Linear Joint ITS (UITS) filter is another multi target tracking algorithm which decouples individual tracks in a multi-track situation using the a-priori probabilities of possible measurement origins. In each scan, the UITS filter has a number of operations which is linear in the number of tracks and the number of measurements involved. © Commonwealth of Australia 2003.