Target Tracking Using Probabilistic Data Association-Based Techniques with Applications to Sonar, Radar, and EO Sensors

The ML-PDA ........................................................................................................ 214 10.3.4 Cramér-Rao Lower Bound for the Estimate .................................................. 216 10.3.5 Results .................................................................................................................. 218

10.4 IMMPDAF for Tracking Maneuvering Targets............................................................220 10.4.1 Coordinate Selection .......................................................................................... 221 10.4.2 Track Formation ..................................................................................................222 10.4.3 Track Maintenance .............................................................................................223