Optimal selection of detection threshold for tracking systems

추적 시스템을 위한 최적 검출 문턱값 선택

In this paper, we consider the optimal control of detection threshold to minimize the conditional mean-square state estimation error for the probabilistic data association (PDA) filter. Earlier works on this problem involved the cumbersome graphical optimization algorithm or time-consuming numerical optimization algorithm. Using the numerical approximation of information reduction factor, we obtained the closed-form optimal detection threshold. This results are very useful for real-time implemenation.