Bearings only multi-sensor maneuvering target tracking

This paper presents a solution to target trajectory estimation when multiple asynchronous passive bearings only sensors with uncertain positions are employed. Asynchronous target position triangulation is achieved. Gaussian mixture measurement presentation, together with a track splitting algorithm allows space/time integration of the target position uncertainty with a simple algorithm. Gaussian mixture measurement presentation incorporates sensor position uncertainty, as well as the spatial uncertainty brought by bearings only measurement. Each sensor detects the target emissions independently, and the measurements are incorporated into track as they arrive. Measurements by arbitrary number of sensors can be incorporated, provided that the triangulation observability criterion is satisfied. The approach is verified by a single target, two sensors, two-dimensional surveillance simulation experiment.