A probability hypothesis density-based multitarget tracker using multiple bistatic range and velocity measurements

A novel multitarget tracking scheme for passive radar, using a particle filter implementation of Ronald Mahler's Probability Hypothesis Density (PHD), is presented. Using range and velocity measurements from a simple non-directional receive antenna and low frequency transmitter pair, a target can be located along an ellipse. To pinpoint a target, multiple such antenna pairs are needed to locate the target at the intersection of the corresponding ellipses. Determining the intersection of these bistatic range ellipses, and resolving the resultant ghost targets, is generally a complex task. However, the PHD is found to provide a convenient and simple means of fusing together the multiple range and velocity measurements into coherent target tracks.