An algorithm for multitarget tracking with multiple asynchronous bearings-only sensors

An algorithm is developed for tracking multiple targets using distributed bearings-only sensors. It is assumed that the sensors report the measurements asynchronously and the processing is done centrally. The proposed algorithm first forms bearings-only (mono) tracks for each sensor and then combines them to form Cartesian position (stereo) tracks. The stereo tracks are initialized using a multidimensional assignment technique. Once the stereo tracks are initialized the mono tracks contributed to the stereo tracks are deleted and the stereo tracks are updated directly using the measurements from the sensors. As shown later in this paper the proposed algorithm is computationally simple and can provide better tracking performance compared to an existing algorithm. Simulations carried out to track multiple targets confirm the effectiveness of the proposed algorithm.