Gating Techniques for Rao-Blackwellized Monte Carlo Data Association Filter

Table 2

The 𝑃_𝑒^(𝑗)_𝑟 obtained by “U”, “J-”, and “SJ-”: two-target situation.

(𝑒)/(𝑓)	𝑃𝑒^(1)1	𝑃𝑒^(2)2	𝑃𝑒^(1)12	𝑃𝑒^(2)12
U-	1/1	1/1	1/1	1/1
J-	0.3077/0.1220	0.3077/0.2195	0.6923/0.8780	0.6923/0.7805
SJ-	0.25/0.1111	0.25/0.2	0.75/0.8889	0.75/0.8