... Engineering¹

This research was supported by ONR under Grant N00014-98-1-0892.

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... equations²

To simplify the discussion we assume linear state/measurement equations.

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... is³

$\left( \begin{array}{c} A \\ B \end{array} \right)$ represents the combinations of A things, taken B at a time.

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... pruned⁴

Selection of L will depend both on the distribution of false alarm measurements and on the variance of true target measurements. This issue is not addressed here.

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