Tracking multiple maneuvering targets by joint combinations of IMM and PDA

For the problem of tracking multiple maneuvering targets in false and missing measurements the paper develops a characterization of the exact Bayesian equations of the conditional density. Since in these exact equations both IMM and PDA are jointly performed over all targets, we also develop two joint IMMPDA types of filters and compare them with other combinations of IMM and JPDA through Monte Carlo simulation for a simple example.