Tracking of multiple maneuvering targets using multiscan JPDA and IMM smoothing [radar sensor example]

We consider the problem of tracking multiple maneuvering targets in the presence of clutter using switching multiple target motion models. A novel suboptimal fixed-lag smoothing algorithm is developed by applying the basic interacting multiple model (IMM) approach and joint probabilistic data association (JPDA) technique to a state augmented system. But unlike the standard single scan JPDA approach, we exploit a multiscan JPDA (Mscan-JPDA) approach to solve the data association problem. The algorithm is illustrated via a simulation example.