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In radar systems, tracking targets in low signal-to-noise ratio (SNR) environments is a very important task. There are some algorithms designed for multitarget tracking. Their performances, however, are not satisfactory in low SNR environments. Track-before-detect (TBD) algorithms have been developed as a class of improved methods for tracking in low SNR environments. However, multitarget TBD is still an open issue. In this paper, multitarget TBD measurements are modeled, and a highly efficientdoi:10.1186/1687-6180-2011-116 fatcat:ufpx5rom2rgmtcwwi5c7fdtgqu