A Cooperative ISAC Tracking System for Complex Trajectories

Due to the ability to provide exceptional dual-functional gains, integrated sensing and communication (ISAC) is currently recognized as a critical component of 6G vehicle-to-everything (V2X) networks. Additionally, cloud radio access networks (C-RANs) enable multi-base station (BS) cooperation, which also contributes to enhancing dual performance. Inspired by these technologies, this paper investigates a multi-BS cooperative ISAC (Co-ISAC) tracking system based on the C-RAN architecture. This system is capable of accurately tracking the vehicle user (VU) while simultaneously providing it with high-rate services. Considering two types of VU state evolution models, i.e., linear motion (LM) and turning motion (TM), we develop the tracking system using the interactive multiple model unscented Kalman filter (IMM-UKF) framework. Furthermore, we design the overall workflow of the system based on weighted least squares (WLS). Finally, numerical results demonstrate that our tracking system exhibits superior tracking performance compared to other baseline schemes.