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

Algorithm 1

Multitarget state estimation procedure for the MM-CBMeMBer filter.

    given 𝜋_𝑘(𝑌_𝑘∣𝑍_𝑘)={(𝑟_𝑘^(𝑖),𝑝_𝑘^(𝑖)(𝐱_𝑘,𝑛_𝑘))}^𝑀𝑘_𝑖=1; set 𝑇_𝑘=0, 𝑋_𝑘=Ø

    for  𝑖=1,…,𝑀_𝑘,

     if  𝑟_𝑘^(𝑖)> a given threshold (i.e. 0.5);

       𝑇_𝑘=𝑇_𝑘+1, 

𝐱⁽_𝑘𝑇_)𝑘=∑𝑝_𝑘^(𝑖)(𝑛_𝑘)_𝑛𝑘^{probabilityofmodel𝑛𝑘}⋅𝐱_𝑘𝑝_𝑘^(𝑖)(𝐱_𝑘|𝑛_𝑘)𝑑𝐱^{stateestimationconditionedonmodel𝑛𝑘}_𝑘=∑_𝑛𝑘∫𝐱_𝑘𝑝_𝑘^(𝑖)(𝐱_𝑘,𝑛_𝑘)𝑑𝐱_𝑘,

       𝑋_𝑘∶=𝑋_𝑘,𝐱⁽_𝑘𝑇_)𝑘;

     end;

    end;

    output: 𝑋_𝑘={𝐱_𝑘^(𝑖)}𝑇_𝑘𝑖=1