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Modified covariance intersection for data fusion in distributed nonhomogeneous monitoring systems network

Monitoring networks contain monitoring nodes that observe an area of interest to detect any possible existing object and estimate its states. Each node has characteristics such as probability of detection and clutter density that may have different values for distinct nodes in nonhomogeneous monitoring networks. This paper proposes a modified covariance intersection method for data fusion in such networks. It is derived by formulating a mixed game model between neighbor monitoring nodes as players and considering the inverse of the trace of fused covariance matrix as players' utility function. Monitoring nodes estimate the states of any possible existing object by applying joint target detection and tracking filter on their own observations. Processing nodes fuse the estimated states received from neighbor monitoring nodes by the proposed modified covariance intersection. It is validated by simulating target detection and tracking problem in 2 situations: 1 target and unknown number of targets.