PMHT Approach for Underwater Bearing-Only Multisensor–Multitarget Tracking in Clutter

  title={PMHT Approach for Underwater Bearing-Only Multisensor–Multitarget Tracking in Clutter},
  author={Xiaohua Li and Peter Willett and Marcus Baum and Yaan Li},
  journal={IEEE Journal of Oceanic Engineering},
In this work, we apply the probabilistic multihypothesis tracker (PMHT) for the problem of underwater bearing-only multisensor-multitarget tracking in clutter. The PMHT is a batch tracking algorithm that can efficiently process a large number of measurements from multiple sensors. We investigate both the extended Kalman filter (EKF) and the unscented Kalman filter (UKF) for dealing with the high degree of nonlinearity in the measurement model. Due to multiple sensors, the unobservability of… CONTINUE READING


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