Correlated Doppler-assisted target tracking in clutter

In a surveillance situation, the origin of each measurement is uncertain. Each measurement may be a clutter measurement or a target detection. In addition to the position [range and angle(s)], measurements often include Doppler velocity. The Doppler velocity measurements are often (e.g. with the linearly modulated frequency transmitted signal) correlated with the range measurements. This study deals with data association (via measurement likelihoods) and estimation in this situation, with a special consideration of the Gaussian mixture approaches. A simulation study shows the benefit of this approach.