A Kalman filtering (KF) approach to on-line musical beat tracking with probabilistic data association (PDA) is investigated in this work. We first formulate the beat tracking process as a linear dynamic system of beat progression, and then apply the Kalman filtering lgorithm to the dynamic system in estimating the time-varying tempo and beat locations. Musical beat tracking using traditional Kalman filtering is however not reliable in the presence of tempo fluctuations and expressive timing deviations.
