The optimal order of processing sensors in sequential IPDA filter

The sequential integrated Probabilistic Data Association (IPDA) is derived in the RFS framework. It is shown that the sequential IPDA filter depends on the order in which the sensors are used. Generally, it is difficult to obtain the optimal order of processing sensor in the sequential IPDA filter for general cases. In this paper, several rules for obtaining the optimal order are discussed using the normalization factor of the Bayesian recursion.