2-D multitarget angle tracking algorithm using sensor array

The authors extend the algorithm proposed by Sastry et al. (1991) from one-dimensional (1-D) to two-dimensional (2-D) scenerios for tracking both azimuth and elevation angles of moving targets using an array of sensors. The angle tracking is initiated by using the MUSIC algorithm and is then achieved through successive minimisation of a cost function. The analytic expressions for the gradient vector of the cost function are derived. The advantage of this algorithm is that the angle estimates are automatically correctly associated with the previous estimates and thus the data association problem does not arise. Computer simulations are provided to illustrate the performances of the algorithm in 2-D angular space.