The single-group PHD filter: An analytic solution

In many group target tracking scenarios, a collection of targets move in a correlated manner as part of a formation, such as a convoy of vehicles. The focus of this paper is in the estimation of the evolution over time of a single-group of targets, referred to as a single-cluster, based on a sequence of partial observation sets. Based on Finite Set Statistics, the paper presents a first-moment recursion for a single-group filter and an analytic solution under linear-Gaussian assumptions. The method is demonstrated on simulated data in a cluttered environment.