Multiple target tracking using adaptive multiple maneuver model joint probabilistic data association

The M(3)JPDA (multiple maneuver model joint probabilistic data association) system is a multiple target tracking algorithm that can cope with maneuver ing targets. The system includes a straight-line constant-velocity movement model as well as multiple accelerated movement models, to be used in paral lel, where the models are utilized according to their reliability. It somet imes happens in M(3)JPDA, however, that when the targets move in straight l ines with constant velocities, the multiple tracking performance is worse t han in the conventional JPDA using the straight-line constant-velocity move ment model. This paper proposes adaptive M(3)JPDA to remedy this point. In this method, the target acceleration is estimated and is smoothed. If the r esulting value is large, the conventional M(3)JPDA is used. If the value is small, the reliability of each motion model is calculated and the choice o f models is based on the difference between the reliabilities of the conven tional M(3)JPDA accelerated motion models and the straight-line constant-ve locity motion model. Using the proposed algorithm, the reliability of the s traight-line constant-velocity motion model is improved when the target exe cutes straight-line constant-velocity motion. As a result of evaluation by simulation, it is seen that the proposed algorithm is capable of tracking t wo crossing targets in straight-line constant-velocity motions, as well as two targets rapidly maneuvering with 7 g accelerations, in contrast to JPDA based on the straight-line constant-velocity motion model and M(3)JPDA. (C ) 1999 Scripta Technica.