Hi Joost,
There is a fundamental limitation to JPDA tracker that is assumes:
All tracks must produces at most one detection per object per sensor per step of the tracker.
If your sensor sweeps the surveillance region and detects the same object twice AND you feed the detections from entire sweep to the tracker, it is likely that you will get redundant/false tracks per object.
There are a couple of methods that you can consider:
Clustering + Tracking:
Do a "radar clustering" before feeding detections to the tracker. If two detections are close to each other, consider them from the same target and "merge" them. You can use features like DBSCAN or partitionDetections for this.
Feeding Partial Sweeps:
Feed detections to the tracker using partial radar sweeps. To accomodate for tracks that were not detected in this partial sweep, you can set the HasDetectableTrackIDsInput property of the tracker to true.
Once you do that, you can specify on every call to the tracker, the list of TrackIDs (and optionally their probability of detection) that you believe should be detectable in this step by any sensor. If a track is missing from the TrackIDs, the tracker will not penalize if it didn't get any detections.
Here is an example that uses this technique (check isDetectable function)
Hope this helps.
Prashant
