Centralized Target Tracking with Propagation Delayed Measurements


16th International Conference on Information Fusion (FUSION), İstanbul, Turkey, 9 - 12 July 2013, pp.820-826 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • City: İstanbul
  • Country: Turkey
  • Page Numbers: pp.820-826
  • Middle East Technical University Affiliated: Yes


In this paper, we investigate the multisensor target tracking problem in environments where the signal propagation delays between the target and the sensors are not negligible. Based on a previously proposed efficient method to solve the implicit equations imposed by the target motion model and the physics rules governing the signal propagation delays, a particle filter is developed to perform multisensor target tracking while compensating for the propagation delays. As opposed to the existing approach in the literature, a centralized tracking architecture, which brings up significant challenges into the problem, is considered. The performance of the new approach is illustrated on an example scenario where a target with a coordinated-turn motion is to be tracked with two bearing-only sensors.