Abstract:
A fixed lag smoothing algorithm for multi-target scenario is
proposed in this paper taking the algorithm of Integrated
Probabilistic Data Association (IPDA) filter as the basis.
Both target state and its existence are estimated in IPDA.
An expression for smoothing of track existence is derived in
this paper. The proposed algorithm can be implemented as
an extension to PDA smoothing. PDA smoothing computes
the state estimate while the derived equation can be used to
smooth the existence of the tracks. Thus a recursive form for
fixed lag smoothing of track existence is incorporated into
PDA smoothing. This should improve the estimate of both
the track states and existence probability which should give a
better track maintenance. Practical application like ”Situation
Awareness”, this improvement can have a great significance.
