Distributed Multi-object Tracking and Registration with LMB Filter in Multistatic Radar Systems

This paper addresses the problem of distributed multi-object tracking (MOT) in a multistatic radar system wherein each radar has no knowledge about the positions of its neighboring nodes in its local coordinate system. The labeled multi-Bernoulli filters (LMB) are running locally in each radar for MOT. The Weighted Arithmetic Average (WAA) fusion rule is employed due to its cardinality robustness and computational efficiency. In our method, after obtaining the local LMB multi-object densities (MOD), the radar positions are estimated by minimizing the Cauchy-Schwartz (CS) divergence between the matched Bernoulli densities. Then the WAA fusion is performed using LMB MODs based on the estimated radar positions. Hence the joint multi-object tracking and registration problem can be effectively solved. The efficacy of the proposed method is demonstrated in a challenging tracking scenario via numerical experiments.