说明：  PMHT是一个优秀的跟踪算法，具有灵活性和易修正的特点。
(The probabilistic multihypothesis tracker (PMHT) is a target tracking algorithm of considerable theoretical elegance. In practice, its performance turns out to be at best similar to that of the probabilistic data association filter (PDAF) and since the implementation of the PDAF is less intense numerically the PMHT has been having a hard time finding acceptance. The PMHT’s problems of nonadaptivity, narcissism, and over-hospitality to clutter are elicited in this work. The PMHT’s main selling-point is its flexible and easily modifiable model, which we use to develop the “homothetic” PMHT maneuver-based PMHTs, including those with separate and joint homothetic measurement models a modified PMHT whose measurement/target association model is more similar to that of the PDAF and PMHTs with eccentric and/or estimated measurement models.)