TARGET TRACKING

摘要

Apparatus and a method for tracking a plurality of targets (e.g. land-based vehicles), the method comprising: for a first time-step, estimating a state of each respective target (10,12); at a second time-step, measuring values for a state of a target; for the second time-step, estimating a state of each respective target (10,12) using the estimated target states for the first time-step, and; updating the estimated target states for the second time-step using the measured values; and performing an identity management process to estimate a probability that a particular state measurement corresponds to a particular target; wherein the identity management process comprises providing a mixing matrix; and an element of the mixing matrix is based on an overlap between the updated estimated target states of targets in an underlying state space of the estimated target states.