Asynchronous Nonuniform Distributed Multitarget Tracking Filter Based on Asymmetric Alpha-Divergence Consensus

With more and more extensive applications of target tracking, distributed multitarget tracking (DMT) becomes an important research direction. However, the synchronization characteristics of some sensor networks cannot be effectively guaranteed due to communication delay, nonuniform sampling, etc. Therefore, a DMT algorithm for asynchronous nonuniform multisensor networks (AN-WSN) is studied in this article. First, a CD-CPHD algorithm with the multistep birth process and time-triggered structure (TCD-CPHD) is proposed by using the continuous-discrete multitarget dynamic (CD) model and the cardinalized probability hypothesis density (CPHD); second, a TCD-CPHD trigger structure based on asymmetric alpha-divergence (AAD) is designed to reduce the communication rate of TCD-CPHD by adaptively calculating the time-trigger index; third, the fusion rule of AAD consensus is derived to construct the fusion process of the proposed DMT algorithm; finally, by combining the above structures and the fusion rule, the implementation processes of the proposed DMT algorithm are given. Theoretical analysis and exhaustive experimental analysis show the effectiveness of the proposed algorithm.