The Number of Joint Association Events in the JPDAF Accounting for Gating
[Technical Report, Memorandum Report]
NAVAL RESEARCH LAB WASHINGTON DC
Pagination or Media Count:
Variants of the Joint Probabilistic Data Association Algorithm Filter JPDAF for target tracking have been around for years. The mostcomputationally-demanding step of the algorithm is the computation of target-measurement association probabilities, which can involve summingover joint association hypotheses of targets to measurements and missed detections. This report goes beyond the worst-case approximationsin the literature and provides a simple explicit expression for the total number of joint association events given a 0-1 matrix specifying whichtargets gate with which measurements.