[1] [1] GOODMAN I R, MAHLER R P, NGUYEN H T. Mathematics of data fusion［M］. Norwood: Kluwer Academic, 1997.

[2] [2] MAHLER R P. Multi-target Bayes filtering via first-order multi-target moments［J］. IEEE Transactions on Aerospace and Electronic Systems, 2003, 39(4): 1152-1178.

[3] [3] VO B N, SINGH S, DOUCET A. Sequential Monte Carlo methods for multi-target filtering with random finite sets［J］. IEEE Transactions on Aerospace and Electronic Systems, 2005, 41(4): 1224-1245.

[4] [4] VO B N, MA W K. The Gaussian mixture probability hypothesis density filter［J］. IEEE Transactions on Signal Processing, 2006, 54(11): 4091-4104.

[6] [6] LIAN F, HAN C Z, LIU W F. Estimating unknown clutter intensity for PHD filter［J］. IEEE Transactionson on Aerospace and Electronic Systems, 2010, 46(4): 2066-2078.

[8] [8] BARTFAI P, TOMKO J. Point processes and queuing problems［M］. North Holland: Amsterdam, 1981.

[9] [9] MCLACHLAN G, PEEL D. Finite mixture models［M］. New York: John Wiley & Sons, 2001: 6-7.

[10] [10] SCHROETER P, VESIN J M, LANGENBERGER T, et al. Robust parameter estimation of intensity distribution for brain magnetic resonance images［J］. IEEE Transactions on Medical Imaging, 1998, 17(2): 172-186.

[12] [12] YANG M S, LAI C Y, LIN C Y. A robust EM clustering algorithm for Gaussian mixture models［J］. Pattern Recognition, 2012(5): 3950-3961.