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

Table 3

Time averaged standard deviation of the estimated cardinality distribution and time averaged OSPA (m) from the EK-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 EK-GM-EPHD filter	3.15	2.29	1.77	1.21	0.76
OSPA (m) from the EK-GM-EPHD filter	93.2	86.7	75.3	54.6	43.9