CENTRALIZED MULTISENSOR FUSION ALGORITHMS FOR TRACKING APPLICATIONS

Two single-sensor tracking algorithms, Joint Probabilistic Data Associ ation (JPDA) and Mixture Reduction (MR), are extended for use in multi sensor multitarget tracking situations, under the assumption that the sensor measurement errors are independent across sensors. In the formu lations for both multisensor algorithms, the equations for the calcula tion of the data association probabilities have been put in the same f orm as for the JPDA, thus allowing previously developed fast JPDA comp utational techniques to be applicable. The computational complexity of these multisensor algorithms is discussed, and simulation results are presented demonstrating and comparing the performances of these and o ther multisensor fusion algorithms.