Multiple target tracking using a multirate IMMJPDA algorithm

A multirate interacting multiple model joint probabilistic data association (MRIMMJPDA) tracking algorithm is developed. The MRIMMJPDA combines two powerful algorithms, the multirate interacting multiple model (MRIMM) tracking algorithm and the joint probabilistic data association (JPDA) algorithm, such that both manoeuvring and nonmanoeuvring targets in clutter can be tracked effectively and efficiently.