中文说明： GM-PHD算法是在线性高斯条件下得出的PHD递推的闭合解，它将目标的PHD用混合高斯的形式表示，并且具有这样的特点：若k-1时刻的目标PHD为混合高斯形式，那么经过PHD递推后得到的k时刻PHD也是混合高斯形式。
English Description：
GM-PHD Algorithm is obtained under the conditions of linear Gaussian PHD Closed form solution of recursive It will target PHD Expressed mixed Gaussian and has such a feature: k -1 Objectives at all times PHD For Gaussian mixture forms, then after PHD Handed back to be k step PHD Gaussian mixture forms. Although GM-PHD algorithm for the linear Gaussian environment inferred PHD filter closed form solution, but relatively easy Gaussian nonlinear problems, you can still GM-PHD replaces the standard Kalman filter within the framework of the EKF or UKF for multiple target tracking realization of linear Gaussian environment .