Performance of state space multi-sensor track fusion with model mismatch

Successful tracking requires assumptions to model the target´s behaviour and sensor characteristics. The sensitivity of multisensor tracking filters to errors in these models is of particular interest to the designer. We consider the specific case of a dual sensor Kalman tracker and compare its theoretical sensitivity to process and measurement model mismatch with that of a single sensor Kalman tracker, confirming our results with simulations. We introduce the notion of a fusion gain as a comparative measure of tracking performance, and the concept of a mismatch factor as a comparative measure of sensitivity, between the dual and single sensor trackers