A single lag smoothing technique for track maintenance in clutter

We introduce a multi-target smoothing algorithm based on the integrated probabilistic data association (IPDA) filter. IPDA jointly estimates both the target state and its existence. An expression for a single lag smoothing of track existence is derived in this paper. This algorithm can be viewed as a extension to PDA smoothing where, combined with the PDA smoothing, a recursive formulation for one lag smoothing of track existence is incorporated. Simulation results show that the new algorithm can track multiple targets in a cluttered environment providing a better estimate for both the track states and existence. The result could be of great significance for situation awareness