Multiple target tracking using homogeneous symmetric measurement

A new form of symmetrical measurement equation based on homogeneous symmetric function has been proposed for tracking of multiple targets. The observability condition and noise statistics have been derived for proposed measurement equation. A case study of three particles in motion is considered where positions and velocities of the particles are estimated using extended Kalman filter. It has been found that the track labeling is lost during estimation. The target tracks have been labeled by minimizing sum of square errors over the permutation of states. The performance is compared in terms of root mean square error (RMSE) with sum of product and sum of power form of symmetric measurement equations. From simulation it is observed that RMSE of position and velocity in homogeneous symmetric measurement equation are smaller than that of obtained from sum of power and product form.