Innovative sequential track-to-track algorithm for telerobots tracking based on heterogeneous sensors

Abstract

In order to improve efficiency and accuracy of the existing telerobots tracking schemes, we present an innovative sequential track-to-track algorithm based on heterogeneous sensors in this article. Considering the effect of the difference of state estimation error on log-likelihood ratio, the modified sequential difference is first derived during the whole surveillance period. According to the chi-square test, the log-likelihood ratio under two hypotheses is further discussed using the weighted coefficient step by step. Subsequently, the extension for maneuvering telerobots tracking is derived based on the unscented Kalman filter. Finally, the numerical studies results indicate that the proposed sequential trackto-track algorithm has promising performance for tracking telerobots with various motion states.