Issues in single target tracking with state dependent detection probability

Target tracking algorithms have traditionally assumed that the target detection probability is uniform across the validation gate. This paper examines one approach for single target tracking when the target detection probability is non-uniform (state-dependent) across the gate. By using the expected value for the target measurement a tracker formulation similar to probabilistic data association (PDA) is derived with the summations in PDA replaced by integrals over the a posteriori innovation probability density function in the state-dependent formulation. The reduction of the new tracking update equations to the conventional formulation is shown along with a discussion of the effect of restricting target innovations of interest to the validation gate. The behaviour of the new tracker for a partially obscured validation gate is also demonstrated.