中文摘要：

目标跟踪算法通常包含对参数杂波密度的测量,该杂波密度通常是不均匀的。目前的无参目标跟踪一般是先假设一个先验未知的杂波密度,假设它均匀分布在一个选好的门限内。这和一个包含强杂波密度、多扫描的目标跟踪算法的选通门限有很大的不同。基于此,提出了一个替代杂波密度估计的无参目标跟踪方法,该算法不假设该杂波在选择的门限内。而是建立在对已测杂波密度估计的基础上,重要的是该估计是在后验目标的轨道更新以前就被估计过,即它是针对杂波密度逆向测量的修正估计。仿真结果表明：该算法在强密度非均匀杂波环境中的有效性。

英文摘要：

Target tracking algorithm typically contains the measurement of clutter density.Generally,the clutter density is non-uniform. In non-parametric target tracking algorithm,the clutter density is assumed an a priori unknown,and uniformly distributed within a selected threshold. This is very different with the selected gating threshold of multi-scan target tracking algorithm included heavy clutter density. Therefore,a method of non-parametric target tracking based on the non-uniform clutter is introduced in this paper,which is used to substitute for the estimates of clutter density. The clutter in this algorithm is not set in the selected gating threshold,conversely,the estimate of clutter density is established on the basis of the measured density. This is important that the estimate is estimated before the update of the posteriori target track and is the revised estimates of reverse measurement of clutter density. The simulation indicates the effectiveness of the proposed algorithm in heavy non-uniform clutter.