THIS PAPER, DESCRIBES A SOLUTION FOR TRACKING MULTIPLE SOCCER PLAYERS, SIMULTANEOUSLY, IN SOCCER GROUND. IT ADAPTS KALMAN FILTER FOR TRACKING MULTIPLE PLAYERS. ADAPTING KALMAN FILTER IS DIVIDED TO FOUR MAIN TASKS. THE FIRST TASK IS DEFINING THE STATE VECTOR FOR MULTIPLE OBJECT TRACKING. THE SECOND TASK IS DETERMINING A MOTION MODEL FOR ESTIMATING THE POSITION OF SOCCER PLAYERS IN THE NEXT FRAME. THE THIRD TASK IS DEFINING AN OBSERVATION METHOD FOR DETECTING SOCCER PLAYERS IN EACH FRAME. FINALLY, THE FOURTH TASK IS TUNING THE MEASUREMENT NOISE COVARIANCE AND ESTIMATING NOISE COVARIANCE. IN THE THIRD TASK, A NOVEL OBSERVATION METHOD FOR DETECTING SOCCER PLAYERS IS PROPOSED. THIS METHOD DIVIDES THE PLAYER BODY INTO THREE PARTS AND CALCULATES THE HISTOGRAM OF EACH PART, SEPARATELY. ALSO, AN ALGORITHM FOR UPDATING THE REFERENCE OBJECT PATCH IS INTRODUCED IN OBSERVATION METHOD. EACH TASK IS DISCUSSED IN DETAIL AND THE PROMISING PERFORMANCE OF THE PROPOSED METHOD FOR TRACKING SOCCER PLAYERS WHEN RUN ON THE AZADI DATASET IS SHOWN. ...

CONSIDERING THE IMPORTANCE OF GEOSYNCHRONOUS ORBIT (GEO), DIFFERENT COUNTRIES DEMAND TO SEND MORE SATELLITES TO THIS ORBIT THEREFORE NOWADAYS GEO IS BECOMING MORE AND MORE OCCUPIED AND CROWDED. THIS MATTER HIGHLIGHTS THE USAGE OF AN ACCURATE NAVIGATION SYSTEM FOR PREVENTING ANY COLLISION. AMONG DIFFERENT KINDS OF NAVIGATION SYSTEMS, DUE TO THEIR ACCURACY AND SIMPLICITY, GNSS AND SPECIALLY GPS ARE AMONG THE MOST POPULAR NAVIGATION METHODS.IN THIS PAPER GPS NAVIGATION DIFFICULTIES IN GEO IS EXPLAINED INCLUDING SIGNAL STRENGTH, VISIBILITY, DOPPLER AND DOPPLER RATE. THESE PARAMETERS ARE ESTIMATED FOR AN ARBITRARY GEO MISSION. IF THE RECEIVER IS ABLE TO TRACK WEAK SIGNALS, MOST OF PROBLEMS LIKE VISIBILITY AND DOP PARAMETERS CAN BE SOLVED. THE ESTIMATED PARAMETERS INDICATE THAT IF THE RECEIVER SIGNAL STRENGTH THRESHOLD IS ABOUT -29DBHZ, IT IS JUST ABLE TO TRACK MAIN-LOBE SIGNALS AND CAN NEVER TRACK 4 SATELLITES BUT IF ITS THRESHOLD IMPROVES TO ABOUT 14DBHZ IN 97% OF A DAY IT CAN TRACK AT LEAST 4 SATELLITES.IN THE NEXT PART OF THIS PAPER, VECTOR TRACKING METHOD ALONG WITH ITS PRINCIPLES AND PERFORMANCE ANALYSIS IS EXPLAINED. THE PERFORMANCE ANALYSIS PROVES THAT IT IS A SUITABLE TRACKING METHOD IN GEO MISSIONS AND CAN TRACK SIGNALS STRONGER THAN 13DBHZ.