Exact algorithms for four track-to-track fusion configurations: All you wanted to know but were afraid to ask

In this paper the exact algorithms for track-to-track fusion (T2TF) which can operate at an arbitrary rate for various information configurations are investigated. First, the exact algorithms for T2TF without memory (T2TFwoM) are presented for three information configurations: with no, partial and full information feedback from the fusion center (FC) to the local trackers. As one major contribution of this paper, the impact of information feedback on fusion accuracy is studied. It is shown that in T2TFwoM, which uses only the track estimates at the fusion time, information feedback will have a negative impact on the fusion accuracy. Then, the exact algorithms for T2TF with memory (T2TFwM) are derived for configurations with and without information feedback. Operating at full rate, T2TFwM is equivalent to the centralized measurement fusion (CMF) regardless of information feedback. However, at a reduced rate, a certain amount of degradation in fusion accuracy is unavoidable. In contrast to the case of T2TFwoM, information feedback is beneficial in T2TFwM.