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22 October 1993 SME filter approach to multiple target tracking with false and missing measurements
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The symmetric measurement equation (SME) filter for track maintenance in multiple target tracking is extended to the general case when there are an arbitrary unknown number of false and missing position measurements in the measurement set at any time point. It is assumed that the number N of targets is known a priori and that the target motions consist of random perturbations of constant-velocity trajectories. The key idea in the paper is to generate a new measurement vector from sums-of-products of the elements of 'feasible' N-element data vectors that pass a thresholding operation in the sums-of-products framework. Via this construction, the data association problem is completely avoided, and in addition, there is no need to identify which target measurements may correspond to false returns or which target measurements may be missing. A computer simulation of SME filter performance is given, including a comparison with the associated filter (a benchmark) and the joint probabilistic data association (JPDA) filter.
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Yong Joo Lee and Edward W. Kamen "SME filter approach to multiple target tracking with false and missing measurements", Proc. SPIE 1954, Signal and Data Processing of Small Targets 1993, (22 October 1993);

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