This paper is devoted to the problem of multitarget tracking with nonlinear models and uncertain noise statistics in the framework of random finite sets. Based on the linear approximation strategy, a robust closed-form solution to the probability hypothesis density recursion is proposed in terms of an H∞ norm minimization criterion. This idea is extended to develop another analytic implementation using the unscented transform technique. Simulations using the proposed approach are also presented.
['Wenling Li', 'Yingmin Jia']
Nonlinear Gaussian mixture phd filter with an H∞ criterion