Abstract
This chapter starts with a review of the architectures for track-to-track fusion (T2TF). Based on whether the fusion algorithm uses the track estimates from the previous fusion and the configuration of information feedback, T2TF is categorized into six configurations, namely, T2TF with no memory with no, partial and full information feedback, and T2TF with memory with no, partial and full information feedback. The exact algorithms of the above T2TF configurations and the impact of information feedback on fusion accuracy are presented. Although (under the Linear Gaussian assumption) the exact T2TF algorithms yield theoretically consistent fusion results, their major drawback is the need of the crosscovariances of the tracks to be fused, which drastically complicates their implementation. The information matrix fusion (IMF) is a special case of T2TF with memory. Although it is heuristic when not conducted at full rate, it was shown to have consistent and near optimal fusion performance for practical tracking scenarios. Due to its simplicity, it is a good candidate for practical tracking systems. For the problem of asynchronous T2TF (AT2TF), a generalized version of the IMF is presented. It supports information feedback for AT2TF in the presence of communication delay, and was shown to have good consistency and close to optimal fusion accuracy. Finally the fusion of heterogenous tracks where the states at the local trackers are nonlinearly related and of different dimension is discussed. For the problem of the fusion of the track from an Interacting Multiple Model (IMM) estimator from an active sensor with the track from a passive sensor, a counterintuitive phenomenon that heterogenous T2TF may have better performance than the centralized measurement-to-track fusion approach (which is the known optimum in the linear case) is demonstrated and explained.
This work was supported by grants ARO W911NF-10-1-0369 and ONR N00014-10-1-0029.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Bar-Shalom, Y., Li, X.R.: Multitarget-Multisensor Tracking: Principles and Techniques. YBS Publishing (1995)
Bar-Shalom, Y., Li, X.R., Kirubarajan, T.: Estimation with Applications to Tracking and Navigation: Algorithms and Software for Information Extraction. Wiley (2001)
Bar-Shalom, Y.: On the Track-to-Track Correlation Problem. IEEE Trans. on Automatic Control 26(2), 571–572 (1981)
Bar-Shalom, Y., Campo, L.: The Effect of the Common Process Noise on the Two-Sensor Fused-Track Covariance. IEEE Trans on Aerospace and Electronic Systems 22(6), 803–804 (1986)
Bar-Shalom, Y.: On Hierarchical Tracking for the Real World. IEEE Trans. on Aerospace and Electronic Systems 42(3), 846–850 (2006)
Bar-Shalom, Y., Willet, P.K., Tian, X.: Target Tracking and Data Fusion: A Handbook of Algorithms. YBS Publishing (2011)
Challa, S., Legg, J., Wang, X.: Track-to-Track Fusion of Out-of-Sequence Tracks. In: Proc. 5th International Conference on Information Fusion, pp. 919–926 (2002)
Chang, K.C., Saha, R.K., Bar-Shalom, Y.: On Optimal Track-to-Track Fusion. IEEE Transactions on Aerospace and Electronic Systems 33(4), 1271–1276 (1997)
Chang, K.C., Tian, Z., Saha, R.: Performance Evaluation of Track Fusion with Information Matrix Filter. IEEE Trans. on Aerospace and Electronic Systems 38(2), 455–466 (2002)
Chong, C.Y.: Hierarchical Estimation. In: Proc. MIT/ONR Workshop on C3, Monterey, CA (1979)
Chong, C.Y., Mori, S., Chang, K.C.: Distributed Multitarget Multisensor Tracking. In: Bar-Shalom, Y. (ed.) Multitarget-Multisensor Tracking: Advanced Applications, ch. 8. Artech House, MA (1990)
Li, X.R., Zhu, Y.M., Wang, J., Han, C.Z.: Unified Optimal Linear Estimation Fusion–PartI: Unified Model and Fusion Rules. IEEE Transactions on Information Theory 49(9), 2192–2207 (2003)
Mallick, M., Schimdt, S., Pao, L.Y., Chang, K.C.: Out-of-sequence track filtering using the decorrelated pseudo measurement approach. In: Proc. SPIE Conf. on Signal and Data Processing for Small Targets, vol. 5428(1), pp. 154–166 (2004)
Novoselsky, A., Sklarz, S.E., Dorfan, M.: Track to track Fusion using Out-of-Sequence Track Information. In: Proc. 10th International Conference on Information Fusion, Quebec City, Canada (2007)
Speyer, J.L.: Computation and Transmission Requirements for a Decentralized Linear-Quadratic-Gaussian Control Problem. IEEE Transactions on Automatic Control 24(2), 54–57 (1979)
Tian, X., Bar-Shalom, Y.: Track-to-Track Fusion Configurations and Association in a Sliding Window. J. Advances in Information Fusion 4(2), 146–164 (2009)
Tian, X., Bar-Shalom, Y.: The optimal algorithm for asynchronous track-to-track fusion. In: Proc. SPIE Conference on Signal and Data Processing of Small Targets. #7698-46, Orlando, FL (2010)
Tian, X., Bar-Shalom, Y.: Algorithms for Asynchronous Track-to-Track Fusion. J. Advances in Information Fusion 5(2), 128–138 (2010)
Yuan, T., Bar-Shalom, Y., Tian, X.: Heterogeneous Track-to-Track Fusion. J. Advances in Information Fusion 6(2), 131–149 (2011)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Tian, X., Yuan, T., Bar-Shalom, Y. (2015). Track-to-Track Fusion in Linear and Nonlinear Systems. In: Choukroun, D., Oshman, Y., Thienel, J., Idan, M. (eds) Advances in Estimation, Navigation, and Spacecraft Control. ENCS 2012. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44785-7_2
Download citation
DOI: https://doi.org/10.1007/978-3-662-44785-7_2
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-662-44784-0
Online ISBN: 978-3-662-44785-7
eBook Packages: EngineeringEngineering (R0)