Adaptive target tracking in slowly changing clutter

False track discrimination performance of a target tracking algorithm in a heavy clutter environment depends on the track confirmation and the track termination thresholds. The optimum value of these thresholds depends on the environment, in particular on the given probability of detection and on the existing clutter density. When tracking ground targets the probability of target detection is nominally constant, whereas the clutter measurement density varies significantly. Previously it was shown that, for a wide range of target signal to noise (+clutter) ratio in a uniform clutter density environment, and given the opportunity to set signal detection thresholds, the optimum value of clutter measurement density is almost constant (and the probability of detection will vary). We propose a scheme where the feedback from the target tracking system corrects the detection thresholds for each sensor resolution cell to obtain the constant and optimal clutter measurement density in, each cell, when the clutter statistics changes slowly. This results in better false track discrimination capabilities of the tracker and also replaces the CFAR block in the signal processing unit.