The Trajectory PHD Filter for Jump Markov System Models and Its Gaussian Mixture Implementation

The trajectory probability hypothesis density filter (TPHD) is capable of producing trajectory estimates in first principle without adding labels or tags. In this paper, we propose a new TPHD filter referred as MM-TPHD for jump Markov system (JMS) model that the highly dynamic targets movement switches between multiple models in multi-trajectory tracking. Firstly, we extend the concept of JMS to the multi-trajectory scenario of maneuvering target and derive the TPHD recursion for the proposed JMS model. Then, we develop the linear Gaussian Mixture (LGM) implementation of MM-TPHD recursion and also consider the L-scan computationally efficient implementations. Finally, simulation results in maneuvering multi-trajectory tracking demonstrate the performance of the proposed algorithm.