Multitarget tracking algorithm based on clutter model estimation

Aiming at severe bias caused by unknown and complex clutter, A multitarget tracking algorithm based on clutter model estimation is put forward in this paper. In this algorithm, multitarget likelihood function is established with the finite mixture model (FMM), the parameters of which can be estimated by the algorithm of expectation maximum (EM). Furthermore, target number and multitarget states can be estimated precisely after the clutter model fitted. Association between target and measurement can be avoided. Simulation proved that the proposed algorithm has a good performance in dealing with unknown and complex clutter.