If your browser can display embedded SVG, you should be able to see an animation of the tracker based on simulator experiments; otherwise, you can view the animation as an AVI file.
Each transparent blue disc with white circumference represents a true target position (as logged by the simulator - it is not available to the tracker). Each disc has a radius of 1 unit.
The oval white lines represent the targets' true paths.
The fuzzy, colored discs represents the tracker's estimate of the targets positions. The color represents the error in the estimate (green=good, red/blue=bad).
The colored lines entwining the white lines represent the tracker's estimates of the targets' paths (interpolated from discrete position/velocity estimates output by the tracker).
As the animation runs, the colored discs will appear and dissappear as the tracker loses and reacquires the targets.
The gray/orange triangles represent the sensors. Each gray/orange line represents one sector: a sector is shown as orange when it is scanning, solid gray when it is powered-up but not scanning, and as transparent gray when it is powered-down.