A Modified Joint Probability Data Association Algorithm

To avoid track coalescence, a modified Joint Probabilistic Data Association algorithm is proposed in this paper. Above all, an exclusive measurement is defined for every target in the new algorithm, which is the maximum probability measurement associated with the target. The association probabilities of exclusive measurement with other targets except corresponding target are set at 0. Then, the association probabilities of every measurement will be given weights by means of the Entropy Value Method in the new algorithm. If the deviations of the association probabilities of the measurement are very small, the association probabilities of the measurement will be given a very small weight and the function of the measurement will be weakened. The simulation results show that the new algorithm can effectively solve the track coalescence problem in all kinds of scenarios and ensure good track performance.