Algorithm 2 Revision of Posterior Weights

For each target $x_{k-1}^{(n)},n=1,\cdots ,{\widehat{N}}_{k-1|k-1}$ at previous time

If the survival probability of $x_{k-1}^{(n)}$ is above the threshold: $p_S^{k-1,(n)}>p_S^{th}$, then

Find the prediction weights and posterior weights corresponding to target $x_{k-1}^{(n)}$:

$w_{k|k-1}^i,w_{k|k}^i,i\in I^{(n)}$, where $I^{(n)}$ is the set of the index representing target $x_{k-1}^{(n)}$.

If $sum\left(w_{k|k}^i\right)<\frac{1}{2}sum\left(w_{k|k-1}^i\right),i\in I^{(n)}$, do

$w_{k|k}^i=w_{k|k-1}^i,i\in I^{(n)}$

End

End

End