ABSTRACT
Pan Quan present Generalized Probability Data Association (GPDA) algorithm[1] in 2005. Compared with the typical algorithm JPDA algorithm[2-3], whether the practical associations are one-to-one or not, GPDA algorithm has the better real-time performance, less calculation and less memory. The GPDA algorithm includes the Serial Multisensor GPDA (SMS-GPDA) and the Parallel Multisensor GPDA (PMS-GPDA). Documents [3-5] have shown that the SMS-GPDA algorithm is better than the PMS-GPDA algorithm. However, because the SMS-GPDA algorithm is a cascade connection algorithm, estimate error of each sensor will be accumulated.
