Target tracking using irregularly spaced detectors and a continuous-state Viterbi algorithm

The primary contribution of this paper is the application of the CSVA, a recently developed algorithm for MAP state sequence estimation, to the problem of tracking a target constrained to two dimensional movement using detections from a field of stationary, arbitrarily located, identical sensors. Models for target motion and detector performance are developed for this problem providing a system model to which the MAP estimator is applied to create a target trajectory estimator. The performance of the MAP target trajectory estimator is illustrated through simulation.