Multiple Maneuvering Target Tracking by Improved Particle Filter Based on Multiscan JPDA

Table 1

Performance comparison.

	RMSE (m)	ET (s)	TLR
IMM	28.34	0.0239	3.7%
RPF	16.66	0.8708	0
PFPNI (simplified)	13.67	0.4503	0
PFPNI (complete)	13.29	190.47	0