1. A system for tracking one or more movable objects comprising: one or more sensors recording object measurement data and passing the recorded object measurement data to a memory; a measurement space located in the memory for storing a plurality of measurement vectors representative of the recorded object measurement data, wherein the measurement space has a plurality of dimensions, the dimensions having a dimension identifier; a state space located in the memory for storing a plurality of state vectors representative of the state of the object, wherein the state space has a plurality of dimensions, the dimensions having a dimension identifier; a measurement noise space located in the memory for storing a plurality of measurement noise vectors representative of uncertainties in the object measurement data; a system model having a system deterministic part and a system probabilistic part and being stored in the memory, the system model being representative of the one or more movable objects; a measurement model having a measurement deterministic part and a measurement probabilistic part and being stored in memory; and a processor configured to update the system model based on a previous system model and using at least an updated one of the measurement vectors, the measurement noise vectors or the state vectors.