A multiple sensor single target tracking simulator

This paper describes a multiple sensor tracking simulation software package (MUST) developed by the Data and Information Group of CSSIP which is written in Matlab and C++. The aim of MUST is to assess the performance of a single-target multisensor tracker, the extended Kalman filter-probabilistic data association (EKF-PDA) tracker, under different target/sensor/environment scenarios. The simulator enables the user to specify the parameters of a single-target tracking scenario with multiple sensors. The simulator then generates the target trajectory and estimates the target trajectory from the asynchronous reports such as bearing, range, range rate and elevation angle from multiple sensors. Finally it evaluates the performance of the tracker under the specified scenario. This paper also presents some simulation results for different tracking scenarios.