To investigate the problem of poor result when the probability hypothesis density(PHD) filter uses clustering
technique to extract the target states and the PHD filter keeps no track association, an improved method of the PHD filter
is proposed, which inserts a tracking label in the target state. The improved method confirms the label with biggish weight
two times to eliminate the influence of clutter, which provides more exact target states than the standard PHD filter. In the
states extract step, the improved method only deals with the particle with the same label to avoid using clustering technique.
Simulations are presented to compare the performance of the improved method with that of the standard PHD filter. The
results show the better tracking performance of the improved method.