Out-of-Sequence Track for Distributed Multisensor System

Fusing out-of-sequence information is a problem of growing importance for multi-sensor target tracking systems due to sensors embedded in complicated network architectures. The problem of how to deal with these updates has received much attention in recent years and has been solved optimally and suboptimally by various authors. Most of the solutions treated only the problem of updating a track by out-of-sequence measurements (OOSM), but did not deal with the updating of a central track by local tracks. 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.