Interactive Full Asynchronous Tracking of Multi-rate Multi-sensor System

Aiming at multirate multisensor tracking system, an interactive fusion algorithm named IFATF is proposed. Local sensors observe the moving target independently and take the filter estimation letting the nearer estimation of fusion center and the sensor itself as previous estimation. Fusion center firstly gets the states and covariance of local sensors at the fusion time by Kalman prediction, then fuses them using covariance intersection method. The feasibility and validity of the algorithm are shown through simulations.