跟踪问题本质上是一个混合系统的状态估计问题[38】，即利用传感器的离散

观测来估计所感兴趣区域内目标个数和状态的过程，其中目标状态包括运动分量

(位置、速度、加速度)和属性信息(信噪比、谱特征，身份信息等)。目标跟

踪问题根据跟踪环境的不同可以分为单机动目标跟踪和多机动目标跟踪。-Tracking is essentially a hybrid system of the state estimation problem [38】, namely the use of sensors to estimate the discrete observation target region of interest number and status of the process, which includes movement component target state (position, velocity, acceleration) and attribute information (signal to noise ratio, spectral characteristics, status information, etc.). Target tracking problem based on tracking the environment can be divided into single-target tracking, and multi-target tracking.