Distributed Adaptive Grid Interacting Multiple Model Joint Probabilistic Data Association Algorithm

Abstract

Adaptive grid interacting multiple model (AGIMM) algorithm is combined with joint probabilistic data association (JPDA), distributed adaptive grid interacting multiple model joint probabilistic data association (DAGIMM- MSJPDA) algorithm is proposed using for multisensor multitarget tracking. In the algorithm, the model probabilities, model-conditioned state estimation and its covariance are fused in fusion centre of this algorithm based on fuzzy weighted method after track association is finished, then the overall state estimation and its covariance can be obtained. The fused model probabilities is feed backed to all sonsors, so uniform and more accurate grid adaptation can be carried out. Validity and correctness of the algorithm is justified by computer simulation.