Measurement fusion using batch estimation for trajectory reconstruction of ballistic targets

The paper deals with the problem of state estimation of continuous-time nonlinear system using discrete-time measurements from multiple sensors. In particular, the problem of multi-radar tracking of artillery ballistic objects is considered. A novel measurement fusion method using batch filter is proposed, which is based on maximum likelihood estimation (MLE). The performance of the MLE track and measurement fusion techniques are evaluated using a generic simulation scenario involving multisensor weapon locating in urban environment.