Multi-sensor joint configuration and tracking algorithm—Fixed sensor systems

This paper proposes an algorithm of multi-sensor configuration and multi-target tracking algorithm in the sensor networks. A sensor precision and cost (PaC) index is first provided. And then a total PaC of the tracking systems as an object function is designed. Under certain constrained conditions of sensor networks, the assignment relationship between sensors and targets, which reflects the association between sensor and target, are optimized by the classic Hungarian algorithm. Based on the assignment relationship, we next focus on the measurement association and provide an equation of multi-sensor probability of hypotheses, or a version of sequence multi-sensor multiple hypothesis tracker (MHT). We finally verify the proposed algorithm by an experiment involving four sensors and two targets.