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| Preface | |
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| The Basics of Multiple-Target Tracking | |
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| Introduction | |
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| Basic Processing Definitions | |
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| Elements of a Basic MTT System | |
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| Overview of Data Association Issues | |
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| Suggested Further Background Reading | |
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| References | |
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| Methods for Filtering and Prediction | |
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| Introduction | |
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| Fixed-Coefficient Filtering | |
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| Kalman Filtering | |
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| Approximations and Simplifications of Kalman Filtering | |
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| Maneuver Detection and Adaptive Filtering | |
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| Summary and Conclusions | |
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| References | |
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| Relationship between Equivalent Noise Bandwidth and Acceleration Error Constant | |
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| Choice of Tracking Coordinate System and Filtering State Variables | |
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| Introduction | |
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| Solution of the Continuous Linear State Equation | |
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| North-East-Down (NED) Coordinate System | |
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| Tracking in Cartesian Coordinates | |
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| Polar Coordinate Systems | |
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| A Comparative Study of Angle Filtering Methods | |
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| Tracking with Angle-Only Measurements | |
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| Summary | |
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| References | |
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| Tracking Filter Development | |
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| Use of Range Rate for NED Velocity Component Estimation | |
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| Gating and Data Association | |
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| Introduction | |
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| Gating Techniques | |
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| The Assignment Problem | |
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| Simple Branching or Track Splitting | |
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| Methods for State Estimation and Covariance Modification to Account for Miscorrelation | |
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| Summary | |
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| References | |
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| Summary of Correlation Statistics | |
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| Measurement Formation and Processing for Multiple-Target Tracking | |
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| Introduction | |
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| Overview of Feedback between Tracking and Detection Functions | |
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| Adaptive Thresholding for Enhanced Detection and Tracking Performance | |
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| Measurement Processing for a Clutter Background | |
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| Observation Redundancy Elimination | |
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| Methods for Determining Target Multiplicity (Range/Range Rate Resolution) | |
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| Target Multiplicity Detection through Monopulse Angle Processing | |
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| Measurement Degradation due to Jet Engine Modulation and Electronic Countermeasures | |
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| Summary | |
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| References | |
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| Derivation of Optimal Threshold Setting | |
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| Derivations for Target Multiplicity Detection Method | |
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| Definitions of Track Life Stages (Track Initiation, Confirmation, Deletion, and Quality) | |
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| Introduction | |
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| Track Confirmation Using Sequential Analysis | |
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| Bayesian Track Confirmation | |
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| Batch Processing Techniques for Track Initiation and Confirmation | |
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| Indicators of Track Quality (Score) | |
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| Track Deletion | |
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| Summary | |
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| References | |
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| Approximate Distribution for a Weighted Sum of Chi-Square Variables | |
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| Score Associated with Clutter Point Designation | |
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| Analytic Techniques For System Evaluation | |
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| Introduction | |
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| Covariance Analysis | |
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| Techniques for Estimating Correlation Performance | |
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| Track Confirmation and Retention Statistics Using Markov Chain Techniques | |
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| Extensions of Markov Chain Techniques | |
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| Summary | |
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| References | |
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| Design Of A Detailed Multiple-Target Tracking Simulation | |
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| Introduction | |
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| Generation and Use of Random Numbers | |
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| Modeling the Radar Detection Process | |
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| Monte Carlo Simulation Design and Interpretation of Results | |
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| Selection of Evaluation Statistics | |
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| Simulation Development | |
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| References | |
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| A General Technique for Generating Random Numbers | |
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| Derivation of the Correlation Properties of an Exponentially Distributed Random Variable | |
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| A Maximum Likelihood Expression For Data Association | |
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| Introduction | |
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| Generalized Technique Development | |
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| Applications | |
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| Development of a Sequential Correlation Technique | |
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| Extension to Multiple Observation-to-Track Correlations | |
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| Summary | |
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| References | |
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| The Bayesian Probabilistic Approach | |
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| Introduction | |
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| Multiple Hypothesis Tracking | |
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| The All-Neighbors Data Association Approach (PDA, JPDA) | |
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| Concluding Remarks | |
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| References | |
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| Group Tracking | |
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| Introduction | |
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| Centroid Group Tracking | |
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| Formation Group Tracking | |
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| Summary and Extensions | |
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| References | |
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| Processing for the Centroid Group Tracking Method | |
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| Applications Of The Radar Electronically Scanned Antenna To Multiple-Target Tracking | |
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| Introduction | |
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| Enhancing Radar Detection with the ESA | |
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| Adaptive Sampling with the ESA | |
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| ESA Techniques for Improving Nearest-Neighbor Correlation Performance | |
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| Implementation of Multiple-Target Tracking Logic for an ESA System | |
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| Summary | |
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| References | |
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| The Use Of Multiple Sensors For Multiple-Target Tracking | |
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| Introduction | |
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| Sensor-Level and Central-Level Multiple Sensor Fusion | |
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| Implementation of Sensor-Level Tracking | |
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| Fusion and Correlation for Data Including Attributes | |
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| The Dempster-Shafer (Evidential Reasoning) Method | |
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| Sensor Allocation | |
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| Summary | |
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| References | |
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| Track Fusion Relationships | |
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| Special Topics | |
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| Introduction | |
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| A Solution for the Optimal Assignment Problem | |
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| An Implementation Method for Multiple Hypothesis Tracking | |
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| MTT Implementation in Dense Target Environments | |
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| A Total System Architecture Including Multiple-Target Tracking | |
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| References | |
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| Glossary | |
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| Index | |