Vehicle tracking using bearings-only measurements with multiple fixed observers

The problem of tracking vehicles utilizing bearings-only measurements is addressed. A previously developed scheme of modified polar coordinates is utilized. This scheme leads to very nonlinear differential equations for the motion of the vehicle. However, the equations can be mapped into a linear set, then solved and mapped back. This makes real-time implementation feasible. While previously the origin of the coordinates moved with the mobile observer, in this scheme it jumps from the fixed observer that has just made a measurement to the one about to make the next measurement. Simultaneous measurements from multiple observers can be handled. Simulations results are presented