Jmpda skillfully avoids calculating of the association probabilistic which has high complexity and costs too much time . in order to use the four channels of hfgwsr , jmpda is combined to parallel filter , thus we obtain the whole algorithm ? ? multi sensor joint maximum probabilistic data association based on parallel filter ( msjmpdapf ) 。 3 该算法巧妙的回避了jpda算法中复杂度很高耗时严重的关联概率kj , t的计算,并将改进之后的jmpda算法应用于多传感器系统得到msjmpda算法。