This is Markus Buehren's code re-packaged to work in Simulink. I use it with Global Nearest Neighbour data association method. Any problems with the actual algorithm should be addressed to Markus. Any problems with the Simulink port, please let me know. Thanks Markus.

This file runs happily in the Accelerator mode but not in Rapid Accelerator. For that I need a TLC wrapper. I anyone can do it please let me know.

The file includes a test model to demostrate how the algorithm works.