Multitarget-multisensor tracking: Principles and techniques, 1995

This text is the most comprehensive compilation of practical algorithms for the estimation of the states of targets in surveillance systems operating in a multitarget-multisensor environment. This problem is characterized by measurement origin uncertainty, typical for low observables. A listing of the various tracking problems and the appropriate algorithms is given and the assumptions and applicability of each algorithm are clearly indicated. The tools for design of algorithms for the association of measurements and tracking are presented. Explicit consideration is given for measurements obtained from different sensors under realistic assumptions --- lack of synchronicity and different detection and accuracy characteristics. Several real-data examples are given to illustrate the techniques discussed. The modeling accounts for target maneuvers, detection probability, false alarms, interference from other targets and the finite resolution capability of sensors. The problems of track initiation, track maintenance and track-to-track association and fusion in a multisensor situation are considered. The optimization of certain signal processing parameters based on tracking performance is also discussed. Many of these techniques have applications to state estimation when using multiple sensors in control systems, autonomous vehicle navigation and robotics. This text is written in textgraph TM format --- a self-contained concise text also suitable for use as viewgraphs. An extensive index is provided with all the indexed terms highlighted in the text for the convenience of the reader.