Aiming at complexity of single sensor tracking system defects and extended multiple target tracking problem

propose multisensor multitarget tracking method

based on Gaussian mixture extended target probability hypothesis density（ET-GM-PHD）.The biggest advantage of this algorithm is that it can avoid data association process in traditional multiple target tracking algorithm

need not to carry on process between complicated measurement and extended target correlation can also obtain the number of extended target and state estimation.Under the condition of linear Gaussian hypothesis

GM realization of extended target PHD filter is given

and through simulation experiment

compare tracking performance of single sensor ET-GM-PHD filter and multi-sensor ET-GM-PHD filter

verify tracking performance and precision of the algorithm.