For processing out-of-sequence measurements in the fusion center of a centralized fusion system which arise because of different time delays in transmitting measurements from various sensors to the center,an out-of-sequence measurement(ATFOOSM) algorithm for one-step-lag and multiple-step-lag out-of-sequence measurements is given.

The first is the centralized measurement fusion method,which combines the multi-sensor data by increasing the dimension of the measurement vector,whereas the second is the distributed measurement fusion method which combines the multi-sensor data by the weighting based on a linear minimum variance criterion,but the dimension of the measurement vector is not changed.

Aiming at complicated computing and difficulty of being realized when extending single sensor PHD filtering to the multi-sensor case by means of probability generating function,a multi-sensor multi-target sequential particle-PHD tracking algorithm is proposed based on the thought of sequential filtering for a centralized fusion system.

Based on robust filtering theory,this paper develops polytopic models of uncertain multisensor system and centralized robust fusion estimation by linear matrix Inequality(LMI) method,and proves the exact transforming condition,by which robust centralized estimation can be transformed to the distributed fusion method with the same fusion estimation performance.