Performance limits of track-to-track fusion versus centralized estimation: theory and application [sensor fusion]

Track-to-track fusion is an important part in distributed multisensor-multitarget tracking. The centralized and distributed tracking configurations were studied in (H.Chen et al., Proc. of SPIE Conf. on Signal and Data Processing of Small Targets, vol. 4048, 2000) using simulated air-to-air scenarios, and in (K.C. Chang, et al, IEEE Transact. on Aerospace and Electronic Systems, vol. 33, no. 4, pp. 1271-1276, 1997) with analytical results based on (alpha)-(beta) filters. The current work generalizes the results in the latter to the cases with more than 2 sensors. As the number of sensors increases, the performance of the distributed tracker is shown to degrade compared with the centralized estimation even when the optimal track-to-track fusion is used. An approximate track-to-track fusion is presented and compared with the optimal track-totrack fusion with performance curves for various numbers of sensors. These performance curves can be used in designing a fusion system where certain trade-offs need to be considered. Finally, these results are compared with simulation results for a realistic air-to-air encounter scenario.