Track Fusion using Equivalent Innovations

Abstract

We investigate the problem of transmitting track state to a fusion center using minimum computational resources. Local track state is not updated and not transmitted, unless local measurements sufficiently decrease local track state uncertainty. Track state information is coded using equivalent innovations. To prevent the accumulation - random walk of coding/decoding errors (coding noise), with potentially unbounded errors, equivalent innovations incorporate the coding noise. Simulations demonstrate negligible information loss when using the equivalent innovations, compared to the optimal central fusion using unlimited bandwidth.