Framework for integrated tracking and identification of multiple targets

The author derives an algorithm for joint tracking and identification of multiple targets using data from multiple sensors. He first constructs models which relate sensor measurements to target kinematic and attribute states, and models which account for the uncertainty in target dynamic models and sensor measurements. These models are used to derive the optimal multisensor multitarget tracking and identification algorithm. The optimal solution is partitioned into recursive solutions for the sensor report-target association, target tracking, and target identification subproblems