Manchester Metropolitan University's Research Repository

    A Modified Bayesian Framework for Multi-Sensor Target Tracking with Out-of-Sequence-Measurements

    Shi, Yifang, Qayyum, Sundas, Memon, Sufyan Ali, Khan, Uzair, Imtiaz, Junaid, Ullah, Ihsan, Dancey, Darren and Nawaz, Raheel ORCID logoORCID: https://orcid.org/0000-0001-9588-0052 (2020) A Modified Bayesian Framework for Multi-Sensor Target Tracking with Out-of-Sequence-Measurements. Sensors, 20 (14). p. 3821.

    Published Version
    Available under License Creative Commons Attribution.

    Download (1MB) | Preview


    Target detection and tracking is important in military as well as in civilian applications. In order to detect and track high-speed incoming threats, modern surveillance systems are equipped with multiple sensors to overcome the limitations of single-sensor based tracking systems. This research proposes the use of information from RADAR and Infrared sensors (IR) for tracking and estimating target state dynamics. A new technique is developed for information fusion of the two sensors in a way that enhances performance of the data association algorithm. The measurement acquisition and processing time of these sensors is not the same; consequently the fusion center measurements arrive out of sequence. To ensure the practicality of system, proposed algorithm compensates the Out of Sequence Measurements (OOSMs) in cluttered environment. This is achieved by a novel algorithm which incorporates a retrodiction based approach to compensate the effects of OOSMs in a modified Bayesian technique. The proposed modification includes a new gating strategy to fuse and select measurements from two sensors which originate from the same target. The state estimation performance is evaluated in terms of Root Mean Squared Error (RMSE) for both position and velocity, whereas, track retention statistics are evaluated to gauge the performance of the proposed tracking algorithm. The results clearly show that the proposed technique improves track retention and and false track discrimination (FTD).

    Impact and Reach


    Activity Overview
    6 month trend
    6 month trend

    Additional statistics for this dataset are available via IRStats2.


    Repository staff only

    Edit record Edit record