Likelihood surface preprocessing with the JPDA algorithm: Metron data set

This paper presents tracking results on the Metron data set using the JPDA algorithm and a preprocessing likelihood surface formulation. The Metron data set is a simulated data set and is designed to be very difficult with large bearing and range errors which leads to high localization error for true detections. There are also significant amounts of clutter. Results using other data association algorithms such as the PDA, PDAFAI, and PDAFAIwTS were not good, which led to the use of a likelihood surface. The preprocessing step using the likelihood surface is key for achieving reasonable results. For the baseline tracking scenario where the truth is known, the results were encouraging. Extending this technique to include acoustic modeling and Doppler information will be topics of future research.