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

Table 3

Performance comparison.

	RMSE in position (m)	RMSE in velocity (m/s)	ET (s)	TLR	SR
IMMJPDA	T1: 26.04, T2: 31.28	T1: 39.48, T2: 31.98	0.75	8.7%	13.9%
MS-IMMJPDA	T1: 25.30, T2: 30.26	T1: 39.22, T2: 31.76	3.78	0	4.5%
PFPNI-PFMSJPDA	T1: 14.42, T2: 18.14	T1: 34.44, T2: 30.58	4.0	0	3.7%