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中文摘要：
本文概述了基于随机有限集的目标跟踪方法的产生、发展和研究现状．论文概要总结了基于随机有限集的目标跟踪方法的基础理论，主要包括随机有限集的理论基础，概率假设密度滤波器的理论基础，概率假设密度滤波器的实现方式以及基于随机有限集的目标跟踪算法的性能评价指标．文中同时简要介绍了概率假设密度滤波器在目标跟踪领域的应用，并对在该领域未来的发展提出了自己的看法．
英文摘要：
This paper describes the emergence, the development and the present research situation on the random finite set （RFS） theory in target tracking. The paper summarizes some theoretical points about target tracking based on RFS, including the fundamental theory of RFS, the fundamental theory of probability hypothesis density （PHD） filter, the implementation of PHD filter and the quality assexxment measure of performance for the filter based on RFS. The applications of RFS theory in target tracking are briefly introduced and some comments on PHD filter＇s developing prospects are proposed.
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