A Multi-scan Probabilistic Data Association Algorithm Based on Multi-rate Kinematic Model
基于多速率运动模型的多帧概率数据关联算法

In this paper, a mistake made by Hong (2001) is pointed out and corrected, and the estimation performance of the multi-rate kinematic model is improved. And then, a multi-scan probabilistic data association algorithm is presented. With the introduction of double gates, the calculation amount of the presented algorithm is decreased efficiently. Finally, the performance of multi-scan probabilistic data association is studied under different clutter density.