Joint Integrated Probabilistic Data Association - JIPDA

Abstract

This paper presents a new algorithm for multi-target tracking. In multi-target situations, multiple tracks may share the same measurement(s). Joint events are formed by creating all possible combinations of track-measurement assignments. The probabilities for these joint events are calculated The expressions for the joint events incorporate the probabilities of track existence of individual tracks, as well as an efficient approximation for the cluster volume and an a-priori probability of the number of clutter measurements in each cluster. From these probabilities the data association and track existence probabilities of individual tracks are obtained These probabilities will allow track update in the classic PDA fashion, as well as automatic track initiation, maintenance and termination. The JIPDA algorithm is recursive and integrates seamlessly with the IPDA algorithm. Simulations are used to verify the performance of the algorithm and compare it with the per performance of the IPDA, IPDA-DLL and IJPDA algorithms in a dense and non-homogenous clutter environment, in crossing target situations.