JIPDA Multi-Target Tracking

Joint Integrated Probabilistic Data Association filter implementation in Python.

Simulation

Setup

python -m venv .venv
source .venv/bin/activate
pip install -r requirements.txt

Usage

Run the notebook:

jupyter notebook simulation.ipynb

Configuation in the jupyter notebook

Parameter	Description
N_TARGETS	Number of targets
P_DETECTION	Probability of detection
P_SURVIVAL	Probability of survival
P_GATE	Gating probability
P_CONFIRM	Confirmation threshold
P_DELETION	Deletion threshold
CLUTTER_MEAN	Clutter rate (per m²)

Project Structure

├── src/
│   ├── jipda.py      # JIPDA filter
│   ├── track.py      # Track dataclass
│   ├── cvm.py        # Constant velocity model
│   └── clutter.py    # Clutter generator
├── results/
│   └── jipda.gif     # Simulation output
├── simulations.ipynb
└── requirements.txt