Multitarget Tracking Problem

In the Radar multitarget surveillance problem, the objective is to track multiple target trajectories over time. At each measurement time, noisy measurements are provided from multiple target detections. The measurements for each detection consist of a set of D estimated location and/or velocity parameters. We assume that K, the number of targets is known¹. Detections can correspond to either targets or false alarms. Missed detections will be accounted for. For MAP estimation, the probability of detection P_d will be assumed known, as will the density function for the number of false alarms per measurement time in the surveillance volume.