Patent Document ID: 9240053
Application ID: 13635193
Patent Flag: 1

Claim One:
1. A method of tracking a plurality of targets, the method comprising: for a first time-step, estimating a state of each target; at a second time-step: measuring values for a state of a target; and measuring and updating a value of an identity parameter for the target, wherein the identity parameter at least partially distinguishes the target from one or more of the other targets; for the second time-step, estimating a state of each target using the estimated target states for the first time-step; updating the estimated target states for the second time-step by performing a Joint Probabilistic Data Association process using the measured values for the states of the targets; and performing an identity management process to estimate a probability that a particular state measurement corresponds to a particular target, wherein the Joint Probabilistic Data Association process is implemented using a particle filter; and wherein the estimated probability is a function of the state of the particular target at the second time-step, and a set of all state values and identity parameter values measured at time steps up to and including the second time-step.