Extended Kalman particle filter angle tracking (EKPF-AT) algorithm for tracking multiple targets

In this paper, we present an angle tracking algorithm based on the extended Kalman particle filter (EKPF), called EKPF-AT, using an array of sensors with known locations. This algorithm is capable of determining DOA angles using a single snapshot of data during the interval between each time step. The EKPF combines particle filtering (PF) with the extended Kalman filter (EKF) in order to prevent sample impoverishment during its resampling process. The effectiveness of the proposed algorithm is demonstrated via computer simulations in scenarios involving targets with crossing trajectories.