Table 1 Fundamental nomenclature used in the proposed work

Z ^k

Cumulative set of measurements from the sensor from the initial scan to scan k

Z _k

Measurement set at scan k from the sensor

Z _k,i

i-th measurement of Z _k

z _k,i

i-th validated measurement from Z _k

\(\textbf {y}_{k,i}^{g}\)

g-th measurement component of Z _k,i

\(\textbf {y}_{k,i}^{g,p}\)

Position component of \(\textbf {y}_{k,i}^{g}\)

\(\textbf {y}_{k,i}^{g,w}\)

Decorrelated Doppler component of \(\textbf {y}_{k,i}^{g}\)

\(\textbf {y}_{k,i}^{g,{c_{{k_{\tau }} - 1}}}\)

g-th measurement component of Z _k,i selected by the track component \({c_{{k_{\tau }} - 1}}\)

\({\bar {c}}_{k}\)

Newly formed track component at scan k

c _k−1

Track component at previous scan k−1

\(\xi _{{~}_{{k }}}^{{{\bar c}_{{k }}}}\)

Probability of track component \({\bar {c}}_{k}\)

ξ _k−1 c _k−1

Probability of track component c _k−1