Joint Detection and Tracking Processing Algorithm with Constant False Alarm Rate Property

A joint detection and tracking processing algorithm is proposed in this paper with constant false alarm rate property. Under the precondition that the average false alarm rate of the gate is fixed, the aim is to improve the target detection probability as well as the tracking performance of the system. Firstly, according to the Bayes theory, the likelihood ratio detector is modified with the adoption of the feedback from the tracker. Then, the averaged detection probability and false alarm rate over the gate is derived. Substituting them into the calculation of the association probability of the Probabilistic Data Association (PDA) filter, the procedure of the proposed algorithm is obtained. Finally, the feasibility and validity of the algorithm are verified by the simulation results.