Heterogeneous Track-to-Track Fusion in 2D Using Sonar and Radar Sensors

In our previous work we considered heterogeneous track-to-track fusion (T2TF) in 3D using an infrared search and track (IRST) sensor and an air moving target indicator (AMTI) radar. In this paper we consider the 2D counterpart, heterogeneous T2TF in 2D using a passive sonar and an active radar. The target is assumed to move with nearly constant velocity (NCV) motion in 2D. The sonar sensor measures bearing of the target whereas the radar measures range and azimuth of the target. For the sonar and radar trackers, we use range-parametrized modified polar coordinates (RP-MPC) and Cartesian state vector, respectively. Both trackers use the cubature Kalman filter (CKF) as the tracker filter. Local trackers send their information matrices and the corresponding information state estimates to the fusion center (FC). The FC performs T2TF using the information filter (IF). Monte Carlo simulations are used to evaluate the accuracy of the proposed IF based T2TF relative to that of centralized fusion.