22 October 1993 SME filter approach to sensor fusion in multiple target tracking
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Abstract
The SME filter approach to multiple target tracking (MTT) is extended to the case when position measurements are provided by more than one sensor. In this approach to MTT, there is no need to consider target/measurement associations or sensor-to-sensor correlations. The SME filter is generated for the case of N targets and M sensors, with the target motions assumed to consist of random perturbations about constant-velocity trajectories. The key idea of the SME approach is to form a new measurement vector by taking sums-of-products of the Cartesian coordinate measurements generated from spherical coordinate measurements provided by each sensor. The new measurement vectors at each sensor are either 'summed' or 'stacked' to form a composite measurement vector in each coordinate. This results in a 'sum SME filter' and a 'stack SME filter'. A computer simulation is given which shows that the stack SME filter can result in much better performance than that of the sum SME filter.
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Edward W. Kamen, Chellury R. Sastry, C. K. Sword, "SME filter approach to sensor fusion in multiple target tracking", Proc. SPIE 1954, Signal and Data Processing of Small Targets 1993, (22 October 1993); doi: 10.1117/12.157782; https://doi.org/10.1117/12.157782
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KEYWORDS
Digital filtering

Sensors

Electronic filtering

Computer simulations

Spherical lenses

Error analysis

Filtering (signal processing)

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