In target tracking environments using over-the-horizon radar (OTHR), one target may generate multiple detections through different signal propagation paths. Trackers need to jointly handle the uncertainties stemming from both measurement origin and measurement path. Traditional multitarget tracking algorithms suffer from high computational loads in such environments since they need to enumerate all possible joint measurement-to-track assignments considering the measurements paths unless they employ some approximations regarding the measurements and their corresponding paths. In this paper, we propose a novel algorithm, named multi-path linear multitarget integrated probabilistic data association (MP-LM-IPDA), to efficiently track multitarget in multiple detection environments. Instead of generating all possible joint assignments, MP-LM-IPDA calculates the modulated clutter measurement density for each measurement cell of each track. The modulated clutter measurement density considers the possibility that the measurement cells originate from the clutter as well as from other potential targets. By incorporating the modulated clutter measurement density, the single target tracking structure can be applied for multitarget tracking, which significantly reduces the computational load. The simulation results demonstrate the effectiveness and efficiency of the proposed algorithm.
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