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Gaussian mixture probability hypothesis density filter for multipath multitarget tracking in over the horizon radar

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Figure

Fig. 1 Geometry of a planar OTHR measurement model with a collocated transmitter and receiver
Fig. 2 The scenario of true target trajectory and OTHR multipath detections. a True target trajectory in ground coordinates
Fig. 3 Target tracking produced by a MP-PHD filter and a single-path PHD filter.single-path PHD filter
Fig. 4 Position RMSE for a MP-PHD filter and a MD-JPDA filter with OTHR data
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