nrl-tracker 1.6.0__tar.gz → 1.7.1__tar.gz

{nrl_tracker-1.6.0/nrl_tracker.egg-info → nrl_tracker-1.7.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: nrl-tracker
-Version: 1.6.0
+Version: 1.7.1
 Summary: Python port of the U.S. Naval Research Laboratory's Tracker Component Library for target tracking algorithms
 Author: Original: David F. Crouse, Naval Research Laboratory
 Maintainer: Python Port Contributors
@@ -63,16 +63,17 @@ Requires-Dist: nrl-tracker[astronomy,dev,geodesy,optimization,signal,visualizati
 
 # Tracker Component Library (Python)
 
-[![PyPI version](https://img.shields.io/badge/pypi-v1.6.0-blue.svg)](https://pypi.org/project/nrl-tracker/)
+[![PyPI version](https://img.shields.io/badge/pypi-v1.7.1-blue.svg)](https://pypi.org/project/nrl-tracker/)
 [![Python 3.10+](https://img.shields.io/badge/python-3.10+-blue.svg)](https://www.python.org/downloads/)
 [![License: Public Domain](https://img.shields.io/badge/License-Public%20Domain-brightgreen.svg)](https://en.wikipedia.org/wiki/Public_domain)
 [![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
-[![Tests](https://img.shields.io/badge/tests-1922%20passing-success.svg)](https://github.com/nedonatelli/TCL)
-[![MATLAB Parity](https://img.shields.io/badge/MATLAB%20Parity-99%25-brightgreen.svg)](docs/gap_analysis.rst)
+[![Tests](https://img.shields.io/badge/tests-1988%20passing-success.svg)](https://github.com/nedonatelli/TCL)
+[![MATLAB Parity](https://img.shields.io/badge/MATLAB%20Parity-100%25-brightgreen.svg)](docs/gap_analysis.rst)
+[![Type Checking](https://img.shields.io/badge/mypy--strict-passing-brightgreen.svg)](mypy.ini)
 
 A Python port of the [U.S. Naval Research Laboratory's Tracker Component Library](https://github.com/USNavalResearchLaboratory/TrackerComponentLibrary), a comprehensive collection of algorithms for target tracking, estimation, coordinate systems, and related mathematical functions.
 
-**1,070+ functions** | **150+ modules** | **1,922 tests** | **99% MATLAB parity**
+**1,070+ functions** | **153 modules** | **1,988 tests** | **100% MATLAB parity**
 
 ## Overview
 
@@ -80,12 +81,15 @@ The Tracker Component Library provides building blocks for developing target tra
 
 - **Coordinate Systems**: Conversions between Cartesian, spherical, geodetic, and other coordinate systems
 - **Dynamic Models**: State transition matrices for constant velocity, coordinated turn, and other motion models
-- **Estimation Algorithms**: Kalman filters (EKF, UKF, CKF, H-infinity), particle filters, and batch estimation
-- **Assignment Algorithms**: Hungarian algorithm, auction algorithms, and multi-dimensional assignment
+- **Estimation Algorithms**: Kalman filters (EKF, UKF, CKF, H-infinity), particle filters, smoothers, and batch estimation
+- **Assignment Algorithms**: Hungarian algorithm, auction algorithms, 3D/ND assignment, k-best assignments
+- **Data Association**: Global Nearest Neighbor, JPDA, MHT for multi-target tracking
 - **Mathematical Functions**: Special functions, statistics, numerical integration, and more
-- **Astronomical Code**: SGP4/SDP4 propagation, TLE parsing, reference frames (GCRF, ITRF, TEME, TOD, MOD), ephemerides
-- **Navigation**: Geodetic calculations, INS algorithms, GNSS utilities
-- **Geophysical Models**: Gravity, magnetism, atmosphere, and terrain models
+- **Astronomical Code**: SGP4/SDP4 propagation, TLE parsing, special orbits (parabolic/hyperbolic), ephemerides, relativistic corrections
+- **Reference Frames**: GCRF, ITRF, TEME, TOD, MOD with full transformation chains
+- **Navigation**: Geodetic calculations, INS mechanization, GNSS utilities, INS/GNSS integration
+- **Geophysical Models**: Gravity (WGS84, EGM96/2008), magnetism (WMM, IGRF), atmosphere, tides, terrain
+- **Signal Processing**: Digital filters, matched filtering, CFAR detection, transforms (FFT, STFT, wavelets)
 
 ## Installation
 

{nrl_tracker-1.6.0 → nrl_tracker-1.7.1}/README.md

@@ -1,15 +1,16 @@
 # Tracker Component Library (Python)
 
-[![PyPI version](https://img.shields.io/badge/pypi-v1.6.0-blue.svg)](https://pypi.org/project/nrl-tracker/)
+[![PyPI version](https://img.shields.io/badge/pypi-v1.7.1-blue.svg)](https://pypi.org/project/nrl-tracker/)
 [![Python 3.10+](https://img.shields.io/badge/python-3.10+-blue.svg)](https://www.python.org/downloads/)
 [![License: Public Domain](https://img.shields.io/badge/License-Public%20Domain-brightgreen.svg)](https://en.wikipedia.org/wiki/Public_domain)
 [![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
-[![Tests](https://img.shields.io/badge/tests-1922%20passing-success.svg)](https://github.com/nedonatelli/TCL)
-[![MATLAB Parity](https://img.shields.io/badge/MATLAB%20Parity-99%25-brightgreen.svg)](docs/gap_analysis.rst)
+[![Tests](https://img.shields.io/badge/tests-1988%20passing-success.svg)](https://github.com/nedonatelli/TCL)
+[![MATLAB Parity](https://img.shields.io/badge/MATLAB%20Parity-100%25-brightgreen.svg)](docs/gap_analysis.rst)
+[![Type Checking](https://img.shields.io/badge/mypy--strict-passing-brightgreen.svg)](mypy.ini)
 
 A Python port of the [U.S. Naval Research Laboratory's Tracker Component Library](https://github.com/USNavalResearchLaboratory/TrackerComponentLibrary), a comprehensive collection of algorithms for target tracking, estimation, coordinate systems, and related mathematical functions.
 
-**1,070+ functions** | **150+ modules** | **1,922 tests** | **99% MATLAB parity**
+**1,070+ functions** | **153 modules** | **1,988 tests** | **100% MATLAB parity**
 
 ## Overview
 
@@ -17,12 +18,15 @@ The Tracker Component Library provides building blocks for developing target tra
 
 - **Coordinate Systems**: Conversions between Cartesian, spherical, geodetic, and other coordinate systems
 - **Dynamic Models**: State transition matrices for constant velocity, coordinated turn, and other motion models
-- **Estimation Algorithms**: Kalman filters (EKF, UKF, CKF, H-infinity), particle filters, and batch estimation
-- **Assignment Algorithms**: Hungarian algorithm, auction algorithms, and multi-dimensional assignment
+- **Estimation Algorithms**: Kalman filters (EKF, UKF, CKF, H-infinity), particle filters, smoothers, and batch estimation
+- **Assignment Algorithms**: Hungarian algorithm, auction algorithms, 3D/ND assignment, k-best assignments
+- **Data Association**: Global Nearest Neighbor, JPDA, MHT for multi-target tracking
 - **Mathematical Functions**: Special functions, statistics, numerical integration, and more
-- **Astronomical Code**: SGP4/SDP4 propagation, TLE parsing, reference frames (GCRF, ITRF, TEME, TOD, MOD), ephemerides
-- **Navigation**: Geodetic calculations, INS algorithms, GNSS utilities
-- **Geophysical Models**: Gravity, magnetism, atmosphere, and terrain models
+- **Astronomical Code**: SGP4/SDP4 propagation, TLE parsing, special orbits (parabolic/hyperbolic), ephemerides, relativistic corrections
+- **Reference Frames**: GCRF, ITRF, TEME, TOD, MOD with full transformation chains
+- **Navigation**: Geodetic calculations, INS mechanization, GNSS utilities, INS/GNSS integration
+- **Geophysical Models**: Gravity (WGS84, EGM96/2008), magnetism (WMM, IGRF), atmosphere, tides, terrain
+- **Signal Processing**: Digital filters, matched filtering, CFAR detection, transforms (FFT, STFT, wavelets)
 
 ## Installation
 

{nrl_tracker-1.6.0 → nrl_tracker-1.7.1/nrl_tracker.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: nrl-tracker
-Version: 1.6.0
+Version: 1.7.1
 Summary: Python port of the U.S. Naval Research Laboratory's Tracker Component Library for target tracking algorithms
 Author: Original: David F. Crouse, Naval Research Laboratory
 Maintainer: Python Port Contributors
@@ -63,16 +63,17 @@ Requires-Dist: nrl-tracker[astronomy,dev,geodesy,optimization,signal,visualizati
 
 # Tracker Component Library (Python)
 
-[![PyPI version](https://img.shields.io/badge/pypi-v1.6.0-blue.svg)](https://pypi.org/project/nrl-tracker/)
+[![PyPI version](https://img.shields.io/badge/pypi-v1.7.1-blue.svg)](https://pypi.org/project/nrl-tracker/)
 [![Python 3.10+](https://img.shields.io/badge/python-3.10+-blue.svg)](https://www.python.org/downloads/)
 [![License: Public Domain](https://img.shields.io/badge/License-Public%20Domain-brightgreen.svg)](https://en.wikipedia.org/wiki/Public_domain)
 [![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
-[![Tests](https://img.shields.io/badge/tests-1922%20passing-success.svg)](https://github.com/nedonatelli/TCL)
-[![MATLAB Parity](https://img.shields.io/badge/MATLAB%20Parity-99%25-brightgreen.svg)](docs/gap_analysis.rst)
+[![Tests](https://img.shields.io/badge/tests-1988%20passing-success.svg)](https://github.com/nedonatelli/TCL)
+[![MATLAB Parity](https://img.shields.io/badge/MATLAB%20Parity-100%25-brightgreen.svg)](docs/gap_analysis.rst)
+[![Type Checking](https://img.shields.io/badge/mypy--strict-passing-brightgreen.svg)](mypy.ini)
 
 A Python port of the [U.S. Naval Research Laboratory's Tracker Component Library](https://github.com/USNavalResearchLaboratory/TrackerComponentLibrary), a comprehensive collection of algorithms for target tracking, estimation, coordinate systems, and related mathematical functions.
 
-**1,070+ functions** | **150+ modules** | **1,922 tests** | **99% MATLAB parity**
+**1,070+ functions** | **153 modules** | **1,988 tests** | **100% MATLAB parity**
 
 ## Overview
 
@@ -80,12 +81,15 @@ The Tracker Component Library provides building blocks for developing target tra
 
 - **Coordinate Systems**: Conversions between Cartesian, spherical, geodetic, and other coordinate systems
 - **Dynamic Models**: State transition matrices for constant velocity, coordinated turn, and other motion models
-- **Estimation Algorithms**: Kalman filters (EKF, UKF, CKF, H-infinity), particle filters, and batch estimation
-- **Assignment Algorithms**: Hungarian algorithm, auction algorithms, and multi-dimensional assignment
+- **Estimation Algorithms**: Kalman filters (EKF, UKF, CKF, H-infinity), particle filters, smoothers, and batch estimation
+- **Assignment Algorithms**: Hungarian algorithm, auction algorithms, 3D/ND assignment, k-best assignments
+- **Data Association**: Global Nearest Neighbor, JPDA, MHT for multi-target tracking
 - **Mathematical Functions**: Special functions, statistics, numerical integration, and more
-- **Astronomical Code**: SGP4/SDP4 propagation, TLE parsing, reference frames (GCRF, ITRF, TEME, TOD, MOD), ephemerides
-- **Navigation**: Geodetic calculations, INS algorithms, GNSS utilities
-- **Geophysical Models**: Gravity, magnetism, atmosphere, and terrain models
+- **Astronomical Code**: SGP4/SDP4 propagation, TLE parsing, special orbits (parabolic/hyperbolic), ephemerides, relativistic corrections
+- **Reference Frames**: GCRF, ITRF, TEME, TOD, MOD with full transformation chains
+- **Navigation**: Geodetic calculations, INS mechanization, GNSS utilities, INS/GNSS integration
+- **Geophysical Models**: Gravity (WGS84, EGM96/2008), magnetism (WMM, IGRF), atmosphere, tides, terrain
+- **Signal Processing**: Digital filters, matched filtering, CFAR detection, transforms (FFT, STFT, wavelets)
 
 ## Installation
 

{nrl_tracker-1.6.0 → nrl_tracker-1.7.1}/nrl_tracker.egg-info/SOURCES.txt

@@ -14,6 +14,8 @@ pytcl/assignment_algorithms/__init__.py
 pytcl/assignment_algorithms/data_association.py
 pytcl/assignment_algorithms/gating.py
 pytcl/assignment_algorithms/jpda.py
+pytcl/assignment_algorithms/nd_assignment.py
+pytcl/assignment_algorithms/network_flow.py
 pytcl/assignment_algorithms/three_dimensional/__init__.py
 pytcl/assignment_algorithms/three_dimensional/assignment.py
 pytcl/assignment_algorithms/two_dimensional/__init__.py
@@ -26,11 +28,13 @@ pytcl/astronomical/orbital_mechanics.py
 pytcl/astronomical/reference_frames.py
 pytcl/astronomical/relativity.py
 pytcl/astronomical/sgp4.py
+pytcl/astronomical/special_orbits.py
 pytcl/astronomical/time_systems.py
 pytcl/astronomical/tle.py
 pytcl/atmosphere/__init__.py
 pytcl/atmosphere/ionosphere.py
 pytcl/atmosphere/models.py
+pytcl/atmosphere/nrlmsise00.py
 pytcl/clustering/__init__.py
 pytcl/clustering/dbscan.py
 pytcl/clustering/gaussian_mixture.py
@@ -60,11 +64,14 @@ pytcl/core/array_utils.py
 pytcl/core/constants.py
 pytcl/core/validation.py
 pytcl/dynamic_estimation/__init__.py
+pytcl/dynamic_estimation/gaussian_sum_filter.py
 pytcl/dynamic_estimation/imm.py
 pytcl/dynamic_estimation/information_filter.py
+pytcl/dynamic_estimation/rbpf.py
 pytcl/dynamic_estimation/smoothers.py
 pytcl/dynamic_estimation/batch_estimation/__init__.py
 pytcl/dynamic_estimation/kalman/__init__.py
+pytcl/dynamic_estimation/kalman/constrained.py
 pytcl/dynamic_estimation/kalman/extended.py
 pytcl/dynamic_estimation/kalman/h_infinity.py
 pytcl/dynamic_estimation/kalman/linear.py
@@ -167,6 +174,7 @@ tests/test_additional_trees.py
 tests/test_assignment_algorithms.py
 tests/test_astronomical.py
 tests/test_clustering.py
+tests/test_constrained_ekf.py
 tests/test_coordinate_systems.py
 tests/test_coverage_boost.py
 tests/test_coverage_boost_2.py
@@ -175,6 +183,7 @@ tests/test_egm.py
 tests/test_emm.py
 tests/test_ephemerides.py
 tests/test_gaussian_mixtures.py
+tests/test_gaussian_sum_filter.py
 tests/test_geophysical.py
 tests/test_great_circle.py
 tests/test_h_infinity.py
@@ -184,10 +193,14 @@ tests/test_kalman_filters.py
 tests/test_mathematical_functions.py
 tests/test_maximum_likelihood.py
 tests/test_mht.py
+tests/test_nd_assignment.py
+tests/test_network_flow.py
+tests/test_nrlmsise00.py
 tests/test_performance_evaluation.py
 tests/test_phase6_specialized.py
 tests/test_plotting.py
 tests/test_projections.py
+tests/test_rbpf.py
 tests/test_relativity.py
 tests/test_rhumb.py
 tests/test_sgp4.py
@@ -196,6 +209,7 @@ tests/test_smoothers.py
 tests/test_spatial_containers_parametrized.py
 tests/test_spatial_structures.py
 tests/test_special_functions_phase12.py
+tests/test_special_orbits.py
 tests/test_static_estimation.py
 tests/test_terrain.py
 tests/test_terrain_loaders.py

{nrl_tracker-1.6.0 → nrl_tracker-1.7.1}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "nrl-tracker"
-version = "1.6.0"
+version = "1.7.1"
 description = "Python port of the U.S. Naval Research Laboratory's Tracker Component Library for target tracking algorithms"
 readme = "README.md"
 authors = [

{nrl_tracker-1.6.0 → nrl_tracker-1.7.1}/pytcl/__init__.py

@@ -20,7 +20,7 @@ References
        no. 5, pp. 18-27, May 2017.
 """
 
-__version__ = "1.6.0"
+__version__ = "1.7.1"
 __author__ = "Python Port Contributors"
 __original_author__ = "David F. Crouse, Naval Research Laboratory"
 
@@ -44,7 +44,7 @@ from pytcl import (
 
 # Version tuple for programmatic access
 # Handle dev/alpha/beta/rc suffixes by extracting only numeric parts
-def _parse_version(version_str):
+def _parse_version(version_str: str) -> tuple[int, ...]:
     """Parse version string into tuple of integers."""
     import re
 

{nrl_tracker-1.6.0 → nrl_tracker-1.7.1}/pytcl/assignment_algorithms/__init__.py

@@ -32,6 +32,21 @@ from pytcl.assignment_algorithms.jpda import (
     jpda_probabilities,
     jpda_update,
 )
+from pytcl.assignment_algorithms.nd_assignment import (
+    AssignmentNDResult,
+    auction_assignment_nd,
+    detect_dimension_conflicts,
+    greedy_assignment_nd,
+    relaxation_assignment_nd,
+    validate_cost_tensor,
+)
+from pytcl.assignment_algorithms.network_flow import (
+    FlowStatus,
+    MinCostFlowResult,
+    assignment_to_flow_network,
+    min_cost_assignment_via_flow,
+    min_cost_flow_successive_shortest_paths,
+)
 from pytcl.assignment_algorithms.three_dimensional import (
     Assignment3DResult,
     assign3d,
@@ -91,4 +106,17 @@ __all__ = [
     "jpda_update",
     "jpda_probabilities",
     "compute_likelihood_matrix",
+    # N-Dimensional Assignment (4D+)
+    "AssignmentNDResult",
+    "validate_cost_tensor",
+    "greedy_assignment_nd",
+    "relaxation_assignment_nd",
+    "auction_assignment_nd",
+    "detect_dimension_conflicts",
+    # Network Flow-Based Assignment
+    "FlowStatus",
+    "MinCostFlowResult",
+    "assignment_to_flow_network",
+    "min_cost_flow_successive_shortest_paths",
+    "min_cost_assignment_via_flow",
 ]

{nrl_tracker-1.6.0 → nrl_tracker-1.7.1}/pytcl/assignment_algorithms/gating.py

@@ -5,7 +5,7 @@ This module provides gating methods to determine which measurements
 fall within a validation region around predicted track states.
 """
 
-from typing import List, Tuple
+from typing import Any, List, Tuple
 
 import numpy as np
 from numba import njit
@@ -15,8 +15,8 @@ from scipy.stats import chi2
 
 @njit(cache=True, fastmath=True)
 def _mahalanobis_distance_2d(
-    innovation: np.ndarray,
-    S_inv: np.ndarray,
+    innovation: np.ndarray[Any, Any],
+    S_inv: np.ndarray[Any, Any],
 ) -> float:
     """JIT-compiled Mahalanobis distance for 2D innovations."""
     return innovation[0] * (
@@ -26,8 +26,8 @@ def _mahalanobis_distance_2d(
 
 @njit(cache=True, fastmath=True)
 def _mahalanobis_distance_3d(
-    innovation: np.ndarray,
-    S_inv: np.ndarray,
+    innovation: np.ndarray[Any, Any],
+    S_inv: np.ndarray[Any, Any],
 ) -> float:
     """JIT-compiled Mahalanobis distance for 3D innovations."""
     result = 0.0
@@ -39,8 +39,8 @@ def _mahalanobis_distance_3d(
 
 @njit(cache=True, fastmath=True)
 def _mahalanobis_distance_general(
-    innovation: np.ndarray,
-    S_inv: np.ndarray,
+    innovation: np.ndarray[Any, Any],
+    S_inv: np.ndarray[Any, Any],
 ) -> float:
     """JIT-compiled Mahalanobis distance for general dimension."""
     n = len(innovation)
@@ -341,9 +341,9 @@ def compute_gate_volume(
 
 @njit(cache=True, fastmath=True, parallel=False)
 def mahalanobis_batch(
-    innovations: np.ndarray,
-    S_inv: np.ndarray,
-    output: np.ndarray,
+    innovations: np.ndarray[Any, Any],
+    S_inv: np.ndarray[Any, Any],
+    output: np.ndarray[Any, Any],
 ) -> None:
     """
     Compute Mahalanobis distances for a batch of innovations.

{nrl_tracker-1.6.0 → nrl_tracker-1.7.1}/pytcl/assignment_algorithms/jpda.py

@@ -9,7 +9,7 @@ This is more sophisticated than GNN which makes hard assignment decisions,
 as JPDA can handle measurement origin uncertainty in cluttered environments.
 """
 
-from typing import List, NamedTuple, Optional, Tuple
+from typing import Any, List, NamedTuple, Optional
 
 import numpy as np
 from numba import njit
@@ -24,7 +24,7 @@ class JPDAResult(NamedTuple):
 
     Attributes
     ----------
-    association_probs : ndarray
+    association_probs : ndarray[Any]
         Association probability matrix of shape (n_tracks, n_measurements + 1).
         association_probs[i, j] is the probability that track i is associated
         with measurement j. The last column (j = n_measurements) represents
@@ -32,9 +32,9 @@ class JPDAResult(NamedTuple):
     marginal_probs : list of ndarray
         List of marginal association probabilities for each track.
         marginal_probs[i][j] = P(measurement j originated from track i).
-    likelihood_matrix : ndarray
+    likelihood_matrix : ndarray[Any]
         Measurement likelihood matrix of shape (n_tracks, n_measurements).
-    gated : ndarray
+    gated : ndarray[Any]
         Boolean matrix indicating which track-measurement pairs passed gating.
     """
 
@@ -53,7 +53,7 @@ class JPDAUpdate(NamedTuple):
         Updated state estimates for each track.
     covariances : list of ndarray
         Updated covariances for each track (includes spread of means).
-    association_probs : ndarray
+    association_probs : ndarray[Any]
         Association probability matrix.
     innovations : list of ndarray
         Combined weighted innovations for each track.
@@ -66,8 +66,8 @@ class JPDAUpdate(NamedTuple):
 
 
 def compute_measurement_likelihood(
-    innovation: NDArray,
-    innovation_cov: NDArray,
+    innovation: NDArray[Any],
+    innovation_cov: NDArray[Any],
     detection_prob: float = 1.0,
 ) -> float:
     """
@@ -75,9 +75,9 @@ def compute_measurement_likelihood(
 
     Parameters
     ----------
-    innovation : ndarray
+    innovation : ndarray[Any]
         Measurement innovation (residual), shape (m,).
-    innovation_cov : ndarray
+    innovation_cov : ndarray[Any]
         Innovation covariance, shape (m, m).
     detection_prob : float
         Probability of detection (Pd).
@@ -102,14 +102,14 @@ def compute_measurement_likelihood(
 
 
 def compute_likelihood_matrix(
-    track_states: List[NDArray],
-    track_covariances: List[NDArray],
-    measurements: NDArray,
-    H: NDArray,
-    R: NDArray,
+    track_states: list[NDArray[Any]],
+    track_covariances: list[NDArray[Any]],
+    measurements: NDArray[Any],
+    H: NDArray[Any],
+    R: NDArray[Any],
     detection_prob: float = 1.0,
     gate_threshold: Optional[float] = None,
-) -> Tuple[NDArray, NDArray]:
+) -> tuple[NDArray[Any], NDArray[Any]]:
     """
     Compute likelihood matrix for all track-measurement pairs.
 
@@ -119,11 +119,11 @@ def compute_likelihood_matrix(
         State estimates for each track.
     track_covariances : list of ndarray
         Covariances for each track.
-    measurements : ndarray
+    measurements : ndarray[Any]
         Measurements, shape (n_meas, m).
-    H : ndarray
+    H : ndarray[Any]
         Measurement matrix, shape (m, n).
-    R : ndarray
+    R : ndarray[Any]
         Measurement noise covariance, shape (m, m).
     detection_prob : float
         Probability of detection.
@@ -132,9 +132,9 @@ def compute_likelihood_matrix(
 
     Returns
     -------
-    likelihood_matrix : ndarray
+    likelihood_matrix : ndarray[Any]
         Likelihood values, shape (n_tracks, n_meas).
-    gated : ndarray
+    gated : ndarray[Any]
         Boolean gating matrix, shape (n_tracks, n_meas).
     """
     n_tracks = len(track_states)
@@ -163,11 +163,11 @@ def compute_likelihood_matrix(
 
 
 def jpda_probabilities(
-    likelihood_matrix: NDArray,
-    gated: NDArray,
+    likelihood_matrix: NDArray[Any],
+    gated: NDArray[Any],
     detection_prob: float = 1.0,
     clutter_density: float = 1e-6,
-) -> NDArray:
+) -> NDArray[Any]:
     """
     Compute JPDA association probabilities.
 
@@ -176,9 +176,9 @@ def jpda_probabilities(
 
     Parameters
     ----------
-    likelihood_matrix : ndarray
+    likelihood_matrix : ndarray[Any]
         Likelihood values, shape (n_tracks, n_meas).
-    gated : ndarray
+    gated : ndarray[Any]
         Boolean gating matrix, shape (n_tracks, n_meas).
     detection_prob : float
         Probability of detection (Pd).
@@ -187,7 +187,7 @@ def jpda_probabilities(
 
     Returns
     -------
-    beta : ndarray
+    beta : ndarray[Any]
         Association probability matrix, shape (n_tracks, n_meas + 1).
         beta[i, j] = P(measurement j is from track i) for j < n_meas.
         beta[i, n_meas] = P(track i has no measurement).
@@ -218,11 +218,11 @@ def jpda_probabilities(
 
 
 def _jpda_exact(
-    likelihood_matrix: NDArray,
-    gated: NDArray,
+    likelihood_matrix: NDArray[Any],
+    gated: NDArray[Any],
     detection_prob: float,
     clutter_density: float,
-) -> NDArray:
+) -> NDArray[Any]:
     """
     Exact JPDA computation via hypothesis enumeration.
 
@@ -241,8 +241,8 @@ def _jpda_exact(
     def generate_hypotheses(
         meas_idx: int,
         current_assignment: List[int],
-        used_tracks: set,
-    ):
+        used_tracks: set[Any],
+    ) -> Any:
         """Recursively generate valid hypotheses."""
         if meas_idx == n_meas:
             yield current_assignment.copy()
@@ -268,11 +268,11 @@ def _jpda_exact(
     hypothesis_probs = []
     hypothesis_assignments = []
 
-    for assignment in generate_hypotheses(0, [], set()):
+    for assignment in generate_hypotheses(0, [], set[Any]()):
         # Compute probability of this hypothesis
         prob = 1.0
 
-        detected_tracks = set()
+        detected_tracks = set[Any]()
         for j, track_idx in enumerate(assignment):
             if track_idx == -1:
                 # Measurement j is clutter
@@ -301,7 +301,7 @@ def _jpda_exact(
     for h_idx, (assignment, prob) in enumerate(
         zip(hypothesis_assignments, hypothesis_probs)
     ):
-        detected_tracks = set()
+        detected_tracks = set[Any]()
         for j, track_idx in enumerate(assignment):
             if track_idx >= 0:
                 beta[track_idx, j] += prob
@@ -317,11 +317,11 @@ def _jpda_exact(
 
 @njit(cache=True)
 def _jpda_approximate_core(
-    likelihood_matrix: np.ndarray,
-    gated: np.ndarray,
+    likelihood_matrix: np.ndarray[Any, Any],
+    gated: np.ndarray[Any, Any],
     detection_prob: float,
     clutter_density: float,
-) -> np.ndarray:
+) -> np.ndarray[Any, Any]:
     """JIT-compiled core of approximate JPDA computation."""
     n_tracks = likelihood_matrix.shape[0]
     n_meas = likelihood_matrix.shape[1]
@@ -369,11 +369,11 @@ def _jpda_approximate_core(
 
 
 def _jpda_approximate(
-    likelihood_matrix: NDArray,
-    gated: NDArray,
+    likelihood_matrix: NDArray[Any],
+    gated: NDArray[Any],
     detection_prob: float,
     clutter_density: float,
-) -> NDArray:
+) -> NDArray[Any]:
     """
     Approximate JPDA using parametric approach.