Convergence Results for the Gaussian Mixture Implementation of the Extended-Target PHD Filter and Its Extended Kalman Filtering Approximation

Table 1

Time averaged standard deviation of the estimated cardinality distribution and time averaged OSPA (m) from the GM-EPHD filter in various 𝐽 given 𝜆=50.

Gaussian number 𝐽 in the mixture	50	100	300	500	700
Time averaged standard deviation of the estimated cardinality distribution from the GM-EPHD filter	2.12	1.39	0.97	0.71	0.58
OSPA (m) from the GM-EPHD filter	83.5	58.7	49.6	43.1	39.5