Unified framework for multi-sensor distributed fusion with memory configuration

This paper investigates the multi-sensor distributed fusion with memory configuration for multi-target automatic tracking (MTAT) in clutter. Aimed at fully addressing the problems of both track origin ambiguity and the strong-correlation among system track and its paired local tracks in the framework, this paper derives an Exact Unified Multisensory Tracks Fusion with Memory (EU-MTFwM) method that fuses the system track with enumerated combinatorial tracks to achieve fusing all sensors' local tracks at once. It deploys track-to-track probabilistic association (T2TPA) and target-existence based track automatic management (TAM) to mitigate track origin ambiguity caused by clutter disturbance and the presence of multiple targets. Additionally, it implements the exact distributed kinematic state estimation (exact DKSE) to remove strong correlation stemming from common historical measurements and process noise. However, as the number of sensors to be fused increases, the proposed EU-MTFwM suffers from the combinatorial explosion. An Implementable Unified Multisensory Tracks Fusion with Memory (IU-MTFwM) method is then derived to sequentially fuse the system track with origin-ambiguous local tracks from multiple sensors one-by-one, providing a unified but computationally efficient alternative to the EU-MTFwM. Furthermore, a novel system track initialization technology is proposed to trigger the multisensory tracks fusion recursion. Numerical results show the proposed two unified methods achieve comparable tracking performance to the centralized fusion benchmark but with significantly reduced communication consumption, and demonstrate intensive improvement over the enhanced state-of-the-art that incorporates our proposed system track initialization into its fusion recursion.