Due to the particle degeneracy

the particle filter based multi-Bernoulli track-before-detect (TBD) filter has an inaccurate estimate of the multi-target posterior density

which leads to the poor performance of measurement non-coherent integration. In order to solve this issue

the Geodesic particle flow is introduced into the multi-Bernoulli TBD algorithm to improve the estimation of the posterior density. In addition

in the track-merging step

the course information of the target is exploited

which reduces the probability of merging tracks of different targets when they cross. The performance of the proposed algorithm is verified by the simulation results of Swerling 1 fluctuating targets detecting and tracking in Rayleigh clutter.