Dismount tracking by fusing measurements from a constellation of bistatic narrowband radar

This paper presents a nonlinear filtering approach to detecting and tracking moving targets from a constellation of narrowband radio frequency sensors. The methodology optimally fuses bistatic range and range-rate measurements made by a collection of sensors without thresholding or linear/Gaussian assumptions. We illustrate the efficacy of the algorithm with an experiment where a moving person is detected and tracked from a constellation of 4 sensors using measurements of bistatic range and range-rate. We use a narrowband radar because of its practical benefits and illustrate successful tracking of a moving dismount with just 5 meters of range resolution.