Batch tracking algorithm for multistatic sonars

In this study, the authors propose a new tracking algorithm for multistatic sonar systems, where the measurements collected by different sensors are sent to a fusion centre. The proposed algorithm relies on the main idea behind the track-before-detect paradigm, which consists of processing data from several consecutive pings, and estimates target positions by maximising the likelihood function of the available measurements. The authors assume that one manoeuvring target is present within the surveillance area. The preliminary performance assessment, carried out on simulated scenarios, shows that the proposed algorithm has acceptable performance also when the probability of detection per sensor is low (in the order of 0.3) and measurement errors are significant.