Fusion of Radar and IRST Sensor Measurements for 3D Target Tracking using Extended Kalman Filter

Tracking algorithms for IRST and radar are implemented and their performance is checked with simulated data. Detailed mathematical expressions given Could be useful for implementation. Performance evaluation metrics have been presented to check the tracking algorithm performance. Two fusion schemes have been presented and their performances evaluated with simulated data. It is concluded that both fusion schemes performed alike with the second fusion scheme giving slightly better results. From the results, it is also concluded that fusion of IRST and radar would improve the tracking performance and reduce the positional uncertainty compared to individual trackers.