Course Information Auxiliary Target Data Association Improved Method

In multi-target tracking data association problem, Joint Probabilistic Data Association (JPDA) is one of the most popular algorithms, while as only the most recent measurements are useful in JPDA, it is a sub-optimal Bayes algorithm. To improve the performance of JPDA, based on the optimal Bayes algorithm, the improved JPDA algorithm leads into the course information which is based on history information, and fuses the course information with association costs in the improved JPDA algorithm. Simulations show that comparing with the JPDA algorithm, the improved algorithm can increase the correct association probability effectively.