Efficient smoothing for multiple maneuvering targets in heavy clutter

This paper extends the smoothing algorithm based on integrated probabilistic data association to track multiple maneuvering targets by applying smoothing to joint integrated probabilistic data association (JIPDA). The proposed algorithm utilizes smoothing data association to obtain smoothing prediction which is needed to calculate the smoothing data association probabilities, the smoothing target trajectory state estimates and the smoothing target existence probability. The smoothing data association probabilities are used to update and propagate the forward tracks for tracking multiple maneuvering targets in clutter. This algorithm is called fixed-interval smoothing JIPDA (JIPDAS). Simulation is carried out to show improved false track discrimination performance over the existing algorithms for tracking multiple maneuvering targets in a heavy cluttered environment.