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Bearings-only target localization for an acoustical unattended ground sensor network

This paper extends our development of acoustical bearings-only target localization for the case of multiple moving targets. The resulting techniques can be used to locate and track targets traveling through a network of acoustical sensor arrays. Each array computes and transmits multiple direction-of-arrival (DOA) estimates to a central processor, which employs the target localization technique. In previous work, we developed ML techniques that may or may not account for the fact that a bearing measurement points to the location of a moving target at a retarded time. By inserting a simple bearings association computation in the ML methods, we define quasi-ML techniques that can estimate the location and velocity of multiple targets using multiple bearing estimates per a sensor array.