Multiple-mode Kalman filtering with node selection using bearings-only measurements

This work investigates multiple-mode tracking method with node selection using bearings-only measurements. We combine multiple-mode extended Kalman filter with node resource management to conserve energy while tracking a maneuvering target. Experiments using real data show that the MM adapts quicker to target maneuvers than the realizable single-mode tracker. Additional experiments show that the simplex node selection leads to better geolocation performance compared to the closest node selection when the number of active nodes is set to two.