I want to know if there is any free simulation tool / benchmark or real data set available to evaluate various algorithms in Distributed data fusion/track-to-track fusion, for e.g Covariance Intersection, Covariance Union, Bar Shalom Campo, Kalman filter, etc. In research related to these methods, the performance is evaluated based on some simple vehicle tracking example simulated in Matlab. But I am interested in a real data set or at least an elaborate simulation tool which is easy and flexible to use for evaluating the aforementioned algorithms?

Thanks in advance.