Multi-target track segment bearings-only association and ranging

Target localization from bearing observations in a multi-target and multi-sensor environment is a difficult problem. We present TSBEAR (track segment bearings-only association and ranging), a new algorithm for bearings only localization with multiple targets. Groups of bearings-only track segments from multiple targets and from several own ship legs and sensors are associated and used to localize the targets. TSBEAR is novel since it requires neither enumeration nor pruning and the estimation and association steps are performed jointly. It is demonstrated with simulated data and its performance compared to single target algorithms is discussed.