AN EFFICIENT ALGORITHM FOR MULTISENSOR TRACK FUSION

An efficient algorithm for track-to-track fusion by incorporating cros s-covariance between tracks created by dissimilar sensors is described . An analytical solution of this problem is complicated if cross-corre lation between sensors tracking the same target is taken into account. An explicit solution of the cross-covariance matrix at steady state i s derived in terms of an integral. It is shown that solution of this i ntegral involves inversion of a matrix whose elements are functions of parameters of individual trackers. Structure of this matrix is analyz ed. An efficient analytical solution for inversion of this matrix is o btained. For fusion of similar sensors, it is shown that this matrix i s reduced to the Routh-Hurwitz matrix which arises in the study of ste ady state stability of linear systems. Numerical results showing the a mount of reduction of fused track covariance by taking into account th e effects of cross-correlation between candidate tracks for fusion is also presented.