Multisensor Multitarget Mixture Reduction Algorithms for Tracking

A single-sensor single-target Mixture Reduction (MR) data association algorithm is extended for use in multisensor multitarget tracking situations. MR is extended for tracking an arbitrary number of targets using an arbitrary number of sensors under the assumption that the sensor measurement errors are independent across sensors. Like the single-sensor single-target MR algorithm, which gives better performance than the Probabilistic Data Association (PDA) lter, the multisensor multitarget MR extensions give similar improvements in performance compared to the Joint Prob-abilistic Data Association (JPDA) and Multisensor JPDA (MSJPDA) algorithms. Further, in the formulations for the multisensor and multitarget MR algorithms, the equations for the calculation of the data association probabilities have been put in the same form as for the JPDA, thus allowing previously developed fast JPDA computational techniques to be applicable.