JPDA Probability Data Association and Kalman Filter Implementation for Target Tracking

Implementation of JPDA probability data association and Kalman filtering for two targets moving with constant velocity in the x-y plane. The system adds noise to motion positions, with initial positions at (4000,1200) and (300,1500) and velocities of (200,200) and (400,200) respectively. The sensor measures position states with T=1 sampling interval for 80 points. Detection probability is 1, correct measurement probability within tracking gate is 0.99, and clutter density is uniformly distributed at 2/km² using RAND function for uniform random variables in [0,1]. Tracking gate threshold is set to 9.21.