Distributed DataFusion viaHybrid Approach

The workofthispaperistopresent thehybrid architecture forcomputing thefusedestimate fromdistributed multiple filters tracking amaneuvering target withtheWeighted LeastSquare(WLS)estimator. The architecture consists of information Kalmanfilters, local processors andglobal fuser. Eachsensortracker isutilized inthereference Cartesian coordinate systemwhentheradarmeasuresrange,bearing and elevation anglein thespherical coordinate system.The hierarchical estimation algorithm isusedineachlocal processor tomergetwotracks representing thesametarget. Duetothe block-diagonal covariance matrix, theresulting global fuser, WLS estimator, canbeimplemented inaparallel structure tofacilitate estimation fusion calculation. Simulation results showthatthe proposed architecture hascomputational advantages overthe conventional information matrixfusion methodwithsimilar performance. N~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~