A comparison of existence-based multitarget trackers for multistatic sonar

In this paper, Joint Integrated Probabilistic Data Association Filter (JIPDAF) and Sequential Sampling Particle Filter with Existence (SSPFE) trackers are applied to the problem of multitarget multistatic sonar tracking. The performance of these algorithms is compared using the recent benchmark Passive and Active Contact Simulator (PACsim) data sets. JIPDAF is shown to have better localisation performance than SSPFE for low clutter density scenarios, but the implementation used here was found to suffer from the algorithm's exponential complexity and was unable to process a high clutter density scenario in reasonable time. While the SSPFE was able to provide tracks for all scenarios, it suffered from a high false track rate for the high clutter density scenario.