The logic for a track-oriented Multiple Hypothesis Tracking (MHT) algorithm has been extended for application to a through the wall radar tracking problem. Specifically, the hypothesis formation and compatibility logic are designed to address the issues associated with radar multipath returns from multiple targets within a building. In addition to the direct returns from the targets, there are typically several returns on each dwell produced by reflections of the radar beam off the building walls before and/or after the beam intersects the target. Multiple passes through the MHT hypothesis formation logic are performed in order to allow tracks to be updated with both direct and multipath observations on the same dwell. The first pass assumes observations to be direct path and later passes assume feasible multipath models. Final track pruning based upon probability is deferred until all passes for a given dwell are completed. Thus, a track can be updated by more than one observation on a single dwell, but an observation can only be used once in any valid hypothesis. This paper describes the multipath modeling approach and the filtering and data association logic that has been implemented. Representative results obtained using real data from a through the wall radar that detected moving targets in a building are shown to validate the method.
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