A new bearings-only tracking algorithm for ground moving targets constrained to roads

We propose a new recursive algorithm for tracking ground moving targets from multiple bearings-only measurements in clutter, collected by a ground moving observer. The scenario represents a target moving along a realistic road network with junctions, roads branching or crossing, where the probability of having measured the line-of-sight bearing, among the multiple observed ones, is less than the unity. This constrained motion estimation is performed using particle filters. Realistic simulations are presented to support our findings.