Tracking in Distributed Multisensor System Update with Out-of-Sequence Information

In multisensor target tracking systems measurements from the same target can arrive out of sequence. How to fuse out-of-sequence information is a very important problem for distributed multisensor target tracking systems. Local sensors send their track to a fusion center and then the fusing center uses these track data from one or more sensors to update. In this paper, we obtain the out-of-sequence track in fusion center for distributed multisensor system based on the assumption that each sensor transmits to the central tracker only the last updated state for each track and the corresponding covariance matrix. Then we present numerical results using simulated data for a scenario where a global tracker processes track data from two local trackers. The results show the distributed fusion here is perfectly compared with the out-of-sequence measurement method.