把以前介绍的概率密度函数(Pdf)多目标跟踪器推广到应用于更复杂和更困难的问题中。输入数据是随时来自多传感器的方位量测,包括杂波(虚警)和含有误差的(来自被测目标的)真实量测。目标可能丢失。输出是实时确定的目标出现的数目和它们的x、y地理位置。其实现是每个目标的离散Pdf的递推数值计算,它是从所有目标的理论联合Pdf导出的。 The Pdf multitarget tracer introduced earlier was generalized to apply to more complex and difficult problems. Input data is readily available from multi-sensor azimuth measurements including clutter (false alarms) and true measurements (from the measured object) with errors. The goal may be lost. The output is the number of real-time target occurrences and their x, y geographic locations. Its implementation is a recursive numerical calculation of the discrete Pdf for each goal, which is derived from the theoretical union of all goals Pdf.