Maintaining Track Continuity for Extended Targets Using Gaussian-Mixture Probability Hypothesis Density Filter

Algorithm 2

Scheme of the track propagation and termination.

Given:

Output of Algorithm 1,  ; Extended targets state

estimates , and their labels ;

Track set , Undefined tree set ,

Candidate terminated track set .

Propagation and Termination:

,

For

 If  

  ,

  , ,

  .

 Else If  

  {: set of the labels of }

  ,

  ,

  : set of the labels of ,

  .

 Else

  Track Initiation and Confirmation Steps.

 End If

End For

If

 ,

 For

  If (i.e. lasts three time steps)

  is the time steps that undefined tree lasts}

   ,

   Terminate the track in whose label equals to .

  Else

      ,

   , .

  End If

 End For

 ,

 Update the number of undefined trees .

End If

,

If

 tracks in whose labels are the same as ,

 ,

 For    is the cardinality of set

  ,

     ,

  ,

  .               

 End for                      

End If