Extension of particle filters for time-varying target presence through split and raw measurements

Target tracking through particle filter (PF) for time-varying presence of a target is compared for thresholded and nonthresholded measurements, where in both cases a track produces more than one measurement. To that end, thresholded split measurements PF along with non-thresholded measurements, sequential importance resampling PF (SIR PF) and auxiliary variable PF (AV PF) are extended to cope with time-varying target presence. Simulations show superiorities in working through non-thresholded measurements. Furthermore, they surprisingly demonstrate that non-thresholded measurements SIR PF leads to less root-mean-square position estimation error than non-thresholded measurements AV PF in case of uncertain target presence and unclear measurements origin besides dynamic model mismatching.