# retroCorrectJPDA

Correct tracking filter with OOSMs using JPDA-based algorithm

## Syntax

## Description

The `retroCorrectJPDA`

function corrects the state estimate and
covariance of a tracking filter using out-of-sequence measurements (OOSMs) based on a joint
probabilistic data association (JPDA) algorithm. To use this function, you must specify the
`MaxNumOOSMSteps`

property of the `filter`

as a
positive integer. Before using this function, you must use the `retrodict`

function to successfully retrodict the current state of the filter to the time at which the
OOSMs were taken.

`[`

corrects the `retroCorrState`

,`retroCorrCov`

] = retroCorrectJPDA(`filter`

,`z`

,`jpdacoeffs`

)`filter`

using the OOSM measurements `z`

and its corresponding joint probabilistic data association coefficients
`jpdacoeffs`

. The function returns the corrected state and state
covariance. The function changes the values of the `State`

and
`StateCovariance`

properties of the filter object to
`retroCorrState`

and `retroCorrCov`

, respectively.
If the `filter`

is a `trackingIMM`

object, the function also changes the `ModelProbabilities`

property of
the `filter`

.

`[___] = retroCorrectJPDA(___,`

specifies the measurement parameters for the out-of-sequence measurements
`measparams`

)`z`

, in addition to all arguments from the previous syntax.

**Note**

You can use this syntax only when `filter`

is a `trackingEKF`

or `trackingIMM`

object .

## Examples

## Input Arguments

## Output Arguments

## More About

## References

[1] Bar-Shalom, Y., Huimin Chen, and
M. Mallick. “One-Step Solution for the Multistep out-of-Sequence-Measurement Problem in
Tracking.” *IEEE Transactions on Aerospace and Electronic Systems* 40,
no. 1 (January 2004): 27–37.

[2] Muntzinger, Marc M., et al.
“Tracking in a Cluttered Environment with Out-of-Sequence Measurements.” *2009 IEEE
International Conference on Vehicular Electronics and Safety (ICVES)*, IEEE,
2009, pp. 56–61.

## Extended Capabilities

## Version History

**Introduced in R2022a**

## See Also

`retrodict`

| `trackingKF`

| `trackingEKF`

| `trackingIMM`

| `objectDetectionDelay`

| `trackerJPDA`