A multisensor single target tracking simulator: MUST

This paper describes a multisensor single target tracking simulator “MUST” developed at CSSIP. MUST is based on a multisensor extended Kalman filter (EKF) which can handle asynchronous nonlinear multiple measurements of target parameters such as range, bearing, range rate and elevation angle. Multiple measurements from each sensor are handled by the probabilistic data association (PDA) filter. MUST provides a flexible platform where the performance of the EKF-PDA tracker can be assessed for different sensor, target and environment scenarios. This paper also presents some simulation results for different tracking scenarios and gives an initialization algorithm for the EKF-PDA algorithm