State estimation with feedback information in a hybrid multisensor system

In order to improve the tracking performance of sensors, this paper addresses the issue of optimal state estimation in a hybrid multisensor data fusion system with feedback information for similar and dissimilar synchronous sensors. In this system, part of the sensors process their data locally to produce local tracks while another part of the sensors only provide detection reports. These tracks and detection reports are communicated to a central site where track fusion and state estimation are performed. The fusion results are then returned to some sensors, so that the tracking performance of the sensors might be improved