*3.3. Implementation*

Since after each filtering iteration, the number of components in the GLMB density grows at an exponential rate, the low weight terms should be truncated for tractability. In this work, we use Murty's ranked assignment algorithm to sample a given number of hypotheses of the multitarget density with the highest probability to be the correct ones. Then these components are propagated through the filtering recursion only. Although the use of Murty's algorithm leads to a cubic complexity in the product of the number of Doppler measurements, its implementation is reasonable because there are maximum 10 targets in this work.
