Multiple Target Tracking With a 2-D Radar Using the JPDAF Algorithm and Combined Motion Model

Multiple target tracking (MTT) is taken into account as one of the most important topics in tracking targets with radars. In this paper, the MTT problem is used for estimating the position of multiple targets when a 2-D radar is employed to gather measurements. To do so, the Joint Probabilistic Data Association Filter (JPDAF) approach is applied to tracking the position of multiple targets. To characterize the motion of each target, two models are used. First, a simple near constant velocity model is considered and then to enhance the tracking performance, specially, when targets make maneuvering movements a variable velocity model is proposed. In addition, a combined model is also proposed to mitigate the maneuvering movements better. This new model gives an advantage to explore the movement of the maneuvering objects which is common in many tracking problems. Simulation results show the superiority of the new motion model and its effect in the tracking performance of multiple targets.