Adaptive Temporal Decorrelation of State Estimates

Abstract

Many commercial and defense applications involve multisensor, multitarget tracking, requiring the fusion of information from a set of sensors. An interesting use case occurs when data available at a central node (due to geometric diversity or retrodiction) allows for the tailoring of state estimation for a target. For instance, if a target is initially tracked with a maneuvering target filter, yet the target is clearly not maneuvering in retrospect, it would be beneficial at the fusion node to refilter that data with a non-maneuvering target filter. If measurements can be shared to the central node, the refiltering process can be accomplished by simply passing source measurements through an updated state estimation process. It is often the case for large, distributed systems, however, that only track information can be passed to a fusion center. In this circumstance, refiltering data becomes less straightforward as track states are linearly dependent across time, and the correlation needs to be properly accounted for before/during refiltering. In this work, a model-based temporal decorrelation process for state estimates with process noise will be studied. A decorrelation procedure will be presented based on a linear algebraic formulation of the problem, and process noise estimates will be created that ensure a conservative system state estimate. Numerical examples will be given to demonstrate the efficacy of the proposed algorithm.