Localization of Emitters via the Intersection of Bearing Lines: A Ghost Elimination Approach

In this paper, we discuss some theoretical conditions for unique localization of multiple targets using the intersection of multiple bearing lines in the presence of the data-association problem. In particular, we examine the necessary theoretical requirements to solve the so-called ghost node problem. We illustrate that it is by no means possible to assume that three spatially distinct bearing sensors are sufficient to eliminate the so-called ghost node problem. In contrast, we derive a measurement bound for ideal environments that clearly refutes this commonly held assumption. Then, we provide a probabilistic analysis on the rate of ghost elimination as a function of the measurement (sensor) numbers. Finally, we examine some of the concepts that were discussed via illustrative simulations.