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

Algorithm 3

Mixture partitioning algorithm.

Require: Measurement set

Step  1. Obtain the partitions set using

distance partitioning, where is the number of partitions.

Step  2.

for do

 for do

  if , then

    = split

  end if

 end for

end for