State estimation of short-range target with multisensors

The optimal estimation method is systematically investigated for estimating the position and velocity vectors of a short-range target in space with a multisensor system TRⁿ (one transmitting sensor and n receiving sensors). First, the relation between the coherent centralised processing (CP) and decentralised processing (DP) is discussed. After showing that the performance of DP and CP procedures are asymptotically identical, in the sense that the observation time approaches infinity, the Cramer-Rao lower bound (CRLB) for the DP estimator is given. Then a suboptimal and realisable signal processing scheme is provided. The performance of the suboptimal procedure is analysed theoretically in detail, and analytical expressions are obtained for the covariance matrix of the estimator error. Simulation results verify the theoretical predictions. This demonstrates that the system is able to accurately locate a short-range target