一、联合概率数据关联在杂波环境中进行多目标跟踪的主要问题是把测量值与目标关联起来。然而,在杂波环境中,这种关联可能是模糊的。目标群集,目标衰落或杂波都可能造成模糊。在联合概率数据关联法提出之前,解决多目标跟踪关联问题的方法,在Bar-Shalom和Reid的综述文章中作过讨论。联合概率数据关联法最初是由Fortmann,Bar-Shalom和Molly Scheffe提出的。目前该方法已被推广应用到探测网中。联合概率数据关联法的前身是概率数据关联滤波器。这种概率关联滤波器,按其设计,是用来跟踪杂波中的单个目标的。它的公式中包含一定的概率项。如果有M个测量值可 I. ASSOCIATED PROBABILISTIC DATA RELATIONSHIPS The main problem with multi-target tracking in clutter environments is the association of measured values ​​with targets. However, in a clutter environment, this correlation may be vague. Target clusters, target fading, or clutter can all blur. Before the joint probabilistic data association method was proposed, a solution to the multi-target tracking association problem was discussed in Bar-Shalom and Reid’s review article. Joint Probabilistic Data Association was first proposed by Fortmann, Bar-Shalom and Molly Scheffe. At present, the method has been applied to the detection network. The predecessor of the joint probability data correlation method is the probability data correlation filter. This probability-dependent filter, by its design, is used to track a single target in a clutter. Its formula contains a certain probability of items. If there are M measurements available