Maximum a posteriori array signal processing

A noncausal estimator is presented for the position versus time sequence of a source relative to an array of passive receivers. The position is estimated in terms of the bearing and range of the source which are modelled as second order Gauss-Markov discrete time sequences. A maximum a posteriori estimation procedure is developed which provides for an exact nonlinear doppler compensated estimator of the position vector for a batch of received sensor data. The result is a delayed, smoothed position vector for the batch as opposed to a casual estimation filter output sequence. The signal spectrum is also estimated for detection purposes.