Estimation of position from multistatic Doppler measurements

Abstract

We implement and evaluate a method infer position from Doppler measurements in a multistatic sonar scenario and present a likelihood approach for doing so. Doppler measurements are used to create likelihood surfaces for each of the transmitter-receiver pairs. The likelihood surfaces are combined and can then be used as-is or combined with additional position measurements. The final likelihood surface is usable in a Bayesian-style tracker or can be used to estimate position of a contact for use in a contact-based tracker. We show how the estimate improves with the addition of multiple receivers and show how the use of Doppler information can improve tracking results.