Communication-Efficient Asynchronous Fusion for Multi-Radar Systems via State and Covariance Projection

Multi-radar systems can significantly improve tracking robustness and accuracy, but practical deployments are challenged by asynchronous sensing timestamps across distributed platforms and by limited communication bandwidth. This paper proposes a communication-efficient asynchronous track fusion framework based on state and covariance projection. Each radar performs local Kalman filtering and transmits only a compact track message consisting of the posterior state estimate, the associated error covariance, and a timestamp. At the fusion center, a causal reference time is chosen as the latest received timestamp, and all tracks are projected to this common time using a hybrid constant-acceleration (CA)/constant-velocity (CV) motion model with appropriately discretized process noise, followed by information-form (inverse-covariance) fusion. Under standard linear-Gaussian assumptions, the fusion rule is minimum mean square error (MMSE)-optimal when the projected estimation errors are approximately independent. We also analyze the computational complexity and the communication payload of the proposed procedure. Monte Carlo simulations with five heterogeneous radars and random inter-radar time offsets up to 37.5 ms over 100 runs show that the proposed fusion reduces the steady-state range root mean square error (RMSE) by about 66% and the radial-velocity RMSE by about 31% relative to the average single-radar tracker, while maintaining statistical consistency as verified by the normalized estimation error squared (NEES). These results indicate that projection-based track fusion provides an effective accuracy–communication trade-off for asynchronous multi-radar tracking.