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The paper introduced the FCM-JPDA (fuzzy clustering means, joint probability data association) method for multi-target tracking based on TDOA (time difference of arrival) measurements. This method is used in a tracking system with an array group which has several subarrays. The FCM-JPDA method combines the FCM algorithm with the JPDA algorithm to reduce the computational cost in data association. In computer simulation, the FCM-JPDA method shows a good performance in multi-target tracking.