Modified generalized probability data association algorithm

Recently, Generalized Probability Data Association (GPDA) algorithm for multi-target tracking is given more attention in virtue of its novel feasible rule and less computation burden and less computing memory. A new association algorithm is presented in this paper, which is based on the segmentation and combination of generalized joint event set. It incorporates the directional information and modifies weighting of state estimation of measurements in the validation region, and then makes the final estimation more exact and improves further performance. Some simulations are made to track multiple maneuvering targets in cluttered environment. The results show that, the proposed algorithm keeps the advantages of former algorithm, and achieves a more significant improvement at the cost of small computational increase.