Target tracking with time-delayed data in multiple radar system

The problem of target tracking in a distributed radar system is considered. Measurements about target trajectory obtained by each radar are transmitted to a fusion center. One of the difficult problems encountered when we apply the well-known Kalman filter technique to these systems is a possibility of data out of sequence caused by time delay. We propose a filtering algorithm which can perform a negative-time update to resolve this problem. Our algorithm is an extension of the Kalman filter and is derived using a minimum mean-square error criterion. The performance of the proposed algorithm is investigated through Monte Carlo simulations.