Multiple-model Bayesian filtering with random finite set observation

The finite set statistics provides a mathematically rigorous single target Bayesian filter (STBF) for tracking a target that generates multiple measurements in a cluttered environment. However, the target maneuvers may lead to the degraded tracking performance and even track loss when using the STBF. The multiple-model technique has been generally considered as the mainstream approach to maneuvering the target tracking. Motivated by the above observations, we propose the multiple-model extension of the original STBF, called MM-STBF, to accommodate the possible target maneuvering behavior. Since the derived MM-STBF involve multiple integrals with no closed form in general, a sequential Monte Carlo implementation (for generic models) and a Gaussian mixture implementation (for linear Gaussian models) are presented. Simulation results show that the proposed MM-STBF outperforms the STBF in terms of root mean squared errors of dynamic state estimates.