Distributed Target Tracking with Propagation Delayed Measurements
2009 (English)In: Proceedings of the 12th International Conference on Information Fusion, 2009, 802-809 p.Conference paper (Refereed)
This paper presents a framework for making distributed target tracking under significant signal propagation delays between the target and the sensors. Each sensor considered makes estimation using its own measurements compensating for the involved signal propagation delay using a deterministic sampling based algorithm proposed previously. Since the individual sensor readings might not be enough to localize the target, the sensors have to share their estimates with each other at specific time instants and correct their individual estimates. This work is mainly related to how this estimate correction and fusion should be carried out. An internal covariance approximation which keeps consistency but at the same time bypasses the track correlation problem is proposed. The results are illustrated on a challenging two-sensor bearings-only tracking scenario.
Place, publisher, year, edition, pages
2009. 802-809 p.
Covariance intersection, Distributed estimation, Largest ellipsoid, Multiple sensors, Propagation delay, State estimation, Target tracking, Track fusion
Engineering and Technology Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-52974ISI: 000273560000104ISBN: 978-0-9824-4380-4OAI: oai:DiVA.org:liu-52974DiVA: diva2:286398
12th International Conference on Information Fusion, Seattle, Washington, USA, July, 2009