Multiple-Model Cardinality Balanced Multitarget Multi-Bernoulli Filter for Tracking Maneuvering Targets

Table 1

The motions of the targets.

	Born time	Die time	CV motion	CT motion
Target 1	1 s	30 s	1 s–15 s	16 s–30 s, anticlockwise
Target 2	1 s	35 s	21 s–35 s	1 s–20 s, anticlockwise
Target 3	10 s	42 s	31 s–42 s	10 s–30 s, anticlockwise
Target 4	20 s	50 s	20 s–30 s	31 s–50 s, clockwise