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

Table 2

Time averaged standard deviation of the estimated cardinality distribution and time averaged OSPA (m) from the GM-EPHD filter in various 𝜆 given 𝐽=700.

Clutter rate 𝜆	50	100	200	300	400
Time averaged standard deviation of the estimated cardinality distribution from the GM-EPHD filter	0.58	0.70	0.95	1.23	1.48
OSPA (m) from the GM-EPHD filter	39.5	42.9	49.0	56.1	61.7