Multi-Sensor d-GLMB Filter for Multi-Target Tracking using Doppler only Measurements
Francesco Papi · 2015
Multi-target tracking using Doppler-shift only measurements is a difficult problem due to the lack of local observability. Multiple Doppler sensors are required to estimate in time the velocity and position vectors of a single-target. The situation is more complicated in multi-target scenarios due to the measurement-to-track assignment problem and approximations usually required in multi-sensor algorithms. In this paper, we consider the use of a δ-Generalized Labeled Multi Bernoulli (δ-GLMB) filter for centralized processing of the Doppler only measurements received from multiple sensors. The approach is a natural multi-sensor extension of the single-sensor δ-GLMB filter and represents a closed-form solution the multi-target tracking problem. Simulation results for challenging Doppler only multi-target scenarios are reported to verify the applicability of the proposed approach.