A Track Fusion Method Based on Converted Measurements in Multistatic Sonar Systems

Tracking with multistatic sonar measurements is challenging due to the fact that the measurements are nonlinear functions of the Cartesian state. To obtain a global estimation of the target position, the existing approaches are to fuse local estimations of the target position or expand the measurement vector to be global. But those methods may cause large amounts of calculations due to the need for many Kalman filters or a high dimension of the measurement vector. The paper converted measurements from measurement coordinates to Cartesian coordinates to obtain the global estimation of the target position based on a Kalman filter and avoiding the high dimension problem, which means a low calculation cost. The performance of the proposed method is demonstrated by different simulated scenarios.