Distributed target tracking for nonlinear systems: application to bearings-only tracking

Nonlinear distributed target tracking for a single target is addressed in this paper. The problem consists in deriving fusion rules for local full/partial target state estimates processed by a number of sensors. We investigate the general ways for the nonlinear fusion rules with/without feedback implementation via particle filtering algorithms. In particular, we focus on practical application of these ideas for specific multi-sensor architectures including low/high bandwidth. Then, these new approaches are applied to the distributed bearings-only tracking problem.