Tracking method based on separation and combination of the measurements for radar and IR fusion system

A new distributed fusion method of radar/infrared (IR) tracking system based on separation and combination of the measurements is proposed by analyzing the influence of rate measurement. The rate information separated from the radar measurements together with measurements of IR form pseudo vector of IR, and the corresponding filter is designed. The results indicate that the method not only makes a great improvement to the local tracker's performance, but also improves the global tracking precision efficiently.