A data association algorithm of improved parallel centralized

In order to solve the problem of the N-P hard with the increased number of targets,a novel unscented joint probabilistic data association based on centralized multisensor algorithm is proposed.First,UKF is used for the propagation of state estimate in the nonlinear system.Then the data is transmitted to the fusion center through the use of the reformative parallel centrlizad way.Finally the improvement JPDA is used to associate the data.Simulation results show the algorithm has a higher accurate rate of association in a clutter environment,and the CPU occupies a relatively short time.