Heterogeneous Track-to-Track Fusion Using Equivalent Measurement and Unscented Transform

This document presents a novel track-to-track fusion (T2TF) approach for heterogeneous tracks. T2TF enables a distributed fusion structure, where tracks from local trackers are transmitted to a global tracker, that fuses the local tracks. T2TF offers the opportunity of low communication load almost without loss of information, compared to centralized measurement-to-track fusion (CMF). Heterogeneous tracks are of different state spaces, which are often non-linearly related. Heterogeneous track-to-track fusion (HT2TF) arises two challenges. Firstly, the fusion of tracks in different state spaces. Secondly, the cross-correlation in the state estimation errors. The presented HT2TF approach is based on the equivalent measurement and the unscented transform (UT). Compared to state-of-the-art approaches, the Jacobian is not required. For evaluation our approach is compared with the corresponding CMF.