{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:21:18Z","timestamp":1760242878987,"version":"build-2065373602"},"reference-count":39,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2016,9,10]],"date-time":"2016-09-10T00:00:00Z","timestamp":1473465600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this paper, an improved nonlinear Gaussian mixture probability hypothesis density (GM-PHD) filter is proposed to address bearings-only measurements in multi-target tracking. The proposed method, called the Gaussian mixture measurements-probability hypothesis density (GMM-PHD) filter, not only approximates the posterior intensity using a Gaussian mixture, but also models the likelihood function with a Gaussian mixture instead of a single Gaussian distribution. Besides, the target birth model of the GMM-PHD filter is assumed to be partially uniform instead of a Gaussian mixture. Simulation results show that the proposed filter outperforms the GM-PHD filter embedded with the extended Kalman filter (EKF) and the unscented Kalman filter (UKF).<\/jats:p>","DOI":"10.3390\/s16091469","type":"journal-article","created":{"date-parts":[[2016,9,12]],"date-time":"2016-09-12T10:24:41Z","timestamp":1473675881000},"page":"1469","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":21,"title":["Improved Bearings-Only Multi-Target Tracking with GM-PHD Filtering"],"prefix":"10.3390","volume":"16","author":[{"given":"Qian","family":"Zhang","sequence":"first","affiliation":[{"name":"Department of Electronic Systems Engineering, Hanyang University, Ansan, Gyeonggi-do 15588, Korea"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1451-1787","authenticated-orcid":false,"given":"Taek","family":"Song","sequence":"additional","affiliation":[{"name":"Department of Electronic Systems Engineering, Hanyang University, Ansan, Gyeonggi-do 15588, Korea"}]}],"member":"1968","published-online":{"date-parts":[[2016,9,10]]},"reference":[{"key":"ref_1","unstructured":"Bar-Shalom, Y., Willett, P.K., and Tian, X. 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