Group tracking

A method (100) for automatic group tracking detects target formations and groups (102) tracks corresponding to each formation. Pseudo-observations are formed (116) to represent missing observations in each track group. The pseudo-observations update (118, 126) the track states of undetected targets. Track validity estimates (120, 122) eliminate false tracks resulting from series of pseudo-observations. A group average velocity applied (104, 106) to each track in the group helps to maintain velocity stability. The operator has the option of suppressing the display of all tracks except for the leader of each group to eliminate the distraction of intra-group switching. This method can be applied to trackers that maintain a single track for each target or to trackers that maintain multiple track branches on each target, such as MHT.