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This paper presents a wireless pyroelectric sensor system, composed of sensing modules (slaves), a synchronization and error rejection module (master), and a data fusion module (host), to perform human tracking. The computation workload distribution among slave, master, and host is investigated. The performances and costs of different signal-processing and target-tracking algorithms are discussed. A prototype system is described containing pyroelectric sensor modules that are able to detect the angular displacement of a moving thermal target. Fresnel lens arrays are used to modulate the sensor field of view. The sensor system has been used to track a single human target