Centralized target tracking with propagation delayed measurements

In this paper, we investigate the multisensor target tracking problem in environments where the signal propagation delays between the target and the sensors are not negligible. Based on a previously proposed efficient method to solve the implicit equations imposed by the target motion model and the physics rules governing the signal propagation delays, a particle filter is developed to perform multisensor target tracking while compensating for the propagation delays. As opposed to the existing approach in the literature, a centralized tracking architecture, which brings up significant challenges into the problem, is considered. The performance of the new approach is illustrated on an example scenario where a target with a coordinated-turn motion is to be tracked with two bearing-only sensors.