Over-the-horizon radar multipath track fusion incorporating track history

This paper describes an algorithm for associating and fusing multipath tracks in over-the-horizon radar (OTHR). The algorithm extends earlier work by using a model based approach to incorporate track history in its computation of association probabilities and fused estimate calculations, thus exploiting temporal as well as spatial relationships. The algorithm can be easily extended to achieve asynchronous fusion of non-OTHR tracks (e.g. microwave radar or GPS) with the multipath OTHR tracks.