The probabilistic data association filter with multiple nonuniform clutter regions

The N/sup 3/VPDAF extension of the PDAF to include a clutter model with multiple regions having different nonuniform distributions is formulated and demonstrated to give improved performance on recorded data from an OTHR. The extension covers the case of target SNR in the state vector so that SNR is estimated in the same way as any other component of the state vector. The advantages of this approach are identified as providing greater adaptivity to the received data. A tracking system that incorporates the M/sup 2/-N/sup 3/VPDAF and the N/sup 3/VPDAF described in this paper has been installed on the Jindalee OTHR. It is used for all air surveillance operations from Alice Springs in central Australia.