Sensors, Vol. 18, Pages 4416: Time-Matching Random Finite Set-Based Filter for Radar Multi-Target Tracking (Sensors)

The random finite set (RFS) approach provides an elegant Bayesian formulation of the multi-target tracking (MTT) problem without the requirement of explicit data association. In order to improve the performance of the RFS-based filter in radar MTT applications, this paper proposes a time-matching Bayesian filtering framework to deal with the problem caused by the diversity of target sampling times. Based on this framework, we develop a time-matching joint generalized labeled multi-Bernoulli filter and a time-matching probability hypothesis density filter. Simulations are performed by their Gaussian mixture implementations. The results show that the proposed approach can improve the accuracy of target state estimation, as well as the robustness.