*3.3. Revision of Posterior Weights*

The posterior particle weights of a specific target will become small if continuous miss detection occurs to it, which may eliminate corresponding particles from the particle pool and then lose the target. In order to maintain the target that is not detected due to low detection probability, this paper replaces the posterior weights with corresponding prediction weights. That is to say, Equation (7) is modified to *wi <sup>k</sup>*|*<sup>k</sup>* <sup>=</sup> *<sup>w</sup><sup>i</sup> k*|*k*−1 . However, a target can't be detected when it disappears from FoV. Therefore, this paper only considers the target whose survival probability is above a threshold *pth <sup>S</sup>* . Furthermore, only when the sum of posterior weights is less than half of the sum of corresponding prediction weights will this paper conduct revision operations. Revisions of posterior weights are performed after the correction step, and the detailed Algorithm 2 at each time is provided as below:

**Algorithm 2** Revision of Posterior Weights

For each target *x* (*n*) *k*−1 , *<sup>n</sup>* <sup>=</sup> 1, ··· , *<sup>N</sup>*<sup>ˆ</sup> *<sup>k</sup>*−1|*k*−<sup>1</sup> at previous time If the survival probability of *x* (*n*) *<sup>k</sup>*−<sup>1</sup> is above the threshold: *<sup>p</sup> k*−1,(*n*) *<sup>S</sup>* <sup>&</sup>gt; *pth <sup>S</sup>* , then Find the prediction weights and posterior weights corresponding to target *x* (*n*) *k*−1 : *wi k*|*k*−1 , *wi k*|*k* , *<sup>i</sup>* <sup>∈</sup> *<sup>I</sup>*(*n*), where *<sup>I</sup>*(*n*) is the set of the index representing target *<sup>x</sup>* (*n*) *k*−1 . If *sum*% *wi k*|*k* & < <sup>1</sup> <sup>2</sup> *sum*% *wi k*|*k*−1 & , *<sup>i</sup>* <sup>∈</sup> *<sup>I</sup>*(*n*), do *wi <sup>k</sup>*|*<sup>k</sup>* <sup>=</sup> *<sup>w</sup><sup>i</sup> k*|*k*−1 , *<sup>i</sup>* <sup>∈</sup> *<sup>I</sup>*(*n*) End End End
