A real-time fusion algorithm for asynchronous sensor system with PHD filter

The paper addresses the multi-target tracking problem in the framework of asynchronous sensor system. A real-time fusion algorithm is presented for asynchronous sensor system where sensors are allowed to work asynchronously with aperiodic sampling. A real-time sequentially fusion method based on Generalized Covariance Intersection (G-CI), called RTS-GCI, is presented. The proposed RTS-GCI fusion algorithm provides a satisfactory estimation precision that is close to the centralized batch G-CI (CB-GCI) estimator at lower computational burden. Therefore, the proposed fusion architecture is suitable for real-time asynchronous sensor system. The proposed fusion algorithm is implemented using the Gaussian Mixture (GM) approximations and its performance is highlighted by numerical results.