Maximum likelihood methods for bearings-only target localization

We develop four maximum likelihood (ML) methods to localize a moving target using a network of acoustical sensor arrays. Each array transmits a direction-of-arrival (DOA) estimate to a central processor, which employs one of the localization techniques. The four ML approaches use different target signal models where the time retardation factor for the target position and the degradation of the target signal through the air may or may not be included in the model. We compare these methods along with a linear least squares approach through a number of simulations at various signal to noise levels