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

Table 4

Time averaged standard deviation of the estimated cardinality distribution and time averaged OSPA (m) from the EK-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 EK-GM-EPHD filter	0.76	0.92	1.29	1.61	1.92
OSPA (m) from the EK-GM-EPHD filter	43.9	48.1	55.8	67.8	79.5