Distributed tracking with probabilistic data association
Ali T. Alouani · 1987
This paper presents a distributed tracking version of the centralized probabilistie data association (PDA) algorithm. In this algorithm, the sensors' observations of a target in a cluttered environment are processed locally. The results of the local estimation algorithms are communicated to a coordinator. The coordinator reconstructs the target's statistics based on the validated observations of all the sensors, using only the communicated statistics. The local processors assume local models which may be different from the true target's model, available to the coordinator, and from each other.