A maximum likelihood tracker for multistatic sonars

In this paper, we propose a TBD like tracker designed to work in a multistatic sonar environment where measurements collected by different sensors are sent to a fusion center. A preliminary performance assessment, carried out by Monte Carlo simulation, is also provided. Finally, we test the newly proposed algorithm with a benchmark dataset provided by METRON in the context of collaborative international multi-laboratory research that is ongoing in the ISIF Multi-Static Tracking Working Group. The preliminary analysis shows that the proposed algorithm has acceptable performance also when the probability of detection per sensor is low (in the order of 0.3) and measurement errors are significant.