A Poisson multi-Bernoulli filter with target spawning

Previous Poisson multi-Bernoulli (PMB) filters use a model, including unknown targets and detected targets, to describe target birth and surviving. Although such a model can handle target birth, surviving, and death well, its performance may degrade when target spawning arises. This is due to the previous PMB filters treat spawned targets as birth targets. In this paper, a new PMB filter with spawning (PMBS) is proposed, in which spawned targets are described as unknown targets, modelled by a Poisson point processes. Simulation results demonstrate the validity of the proposed filter, by using the spawning model in the measurement-oriented marginal MeMBer/Poisson (MOMB/P) filter and the track-oriented marginal MeMBer/Poisson (TOMB/P) filter.