Improved Distributed Multisensor Fusion Method Based on Generalized Covariance Intersection

Algorithm 1

Input: Filtered Gaussian component at time . The measure set at time k.

For

Quantitative complementation according to (12)(13)(14) yields

End

The Gaussian component association is performed according to (29) to obtain , where denotes the number of subsets after association.

For

Calculate the Gaussian component according to equation (31)

Calculate the number of target estimates according to equations (32) and (33)

End

The new Gaussian component is obtained at the sensor after fusion

End