Tracking manoeuvring targets with a low probability of detection in clutter

A new technique for tracking manoeuvering targets with a low probability of detection in a cluttered environment is presented. It generalises the (N,M) scan bifurcating filter of Kenefic (1981) so that the life of track branches which do not associate with plots is extended, resulting in improved tracking of targets with a low probability of detection. It is shown how a probability ratio can be easily integrated with this tracking scheme for negligible extra computational effort. This allows optimal track confirmation and deletion decisions to be made