Abstract:
We introduce a multi-target smoothing algorithm
based on the Integrated Probabilistic Data Association (IPDA)
filter. IPDA jointly estimates both the target state and its
existence. An expression for a single lag smoothing of track
existence is derived in this paper. This algorithm can be viewed
as a extension to PDA smoothing where, combined with the PDA
smoothing, a recursive formulation for one lag smoothing of track
existence is incorporated. Simulation results show that the new
algorithm can track multiple targets in a cluttered environment
providing a better estimate for both the track states and existence.
The result could be of great significance for situation awareness.
