Tracking closely spaced objects with resolution limited sensors is a difficult problem. One way to address this issue is to track these targets individually, and employ relatively complex data association approaches as a means of pairing detections and tracks. The algorithm outlined in this paper takes a different approach, and instead estimates the group velocity using an unscented Kalman Filter (UKF). The UKF state estimate is then employed within a particle filter, which estimates the

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... ution of objects within the group. It is shown that this approach can be very effective, especially for groups of irregularly spaced objects. Public reporting burden for the collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden, to Washington Headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington VA 22202-4302. Respondents should be aware that notwithstanding any other provision of law, no person shall be subject to a penalty for failing to comply with a collection of information if it does not display a currently valid OMB control number. Same as Report (SAR) 18. NUMBER OF PAGES 6 19a. NAME OF RESPONSIBLE PERSON a. REPORT unclassified b. ABSTRACT unclassified c. THIS PAGE unclassified Standard Form 298 (Rev. 8-98) Prescribed by ANSI Std Z39-18