The probabilistic data association (PDA) algorithm for tracking in clutter contains a stochastic (data-dependent) Riccati equation for updating the estimation error covariance matrix. This note details a simple analytic approximation to the stochastic Riccati equation that allows precomputation of the estimation error covariance matrices. The potential of the approximation for performance analysis of PDA-based tracking algorithm is demonstrated using a simple example.
A contribution to performance prediction for probabilistic data association tracking filters
IEEE Transactions on Aerospace and Electronic Systems ; 32 , 3 ; 1143-1148
1996-07-01
1506859 byte
Article (Journal)
Electronic Resource
English
A Contribution to Performance Prediction for Probabilistic Data Association Tracking Filters
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