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Tracking of Multiple Moving Sources Using Recursive EM Algorithm


We deal with recursive direction-of-arrival (DOA) estimation of multiple moving sources. Based on the recursive EM algorithm, we develop two recursive procedures to estimate the time-varying DOA parameter for narrowband signals. The first procedure requires no prior knowledge about the source movement. The second procedure assumes that the motion of moving sources is described by a linear polynomial model. The proposed recursion updates the polynomial coefficients when a new data arrives. The suggested approaches have two major advantages: simple implementation and easy extension to wideband signals. Numerical experiments show that both procedures provide excellent results in a slowly changing environment. When the DOA parameter changes fast or two source directions cross with each other, the procedure designed for a linear polynomial model has a better performance than the general procedure. Compared to the beamforming technique based on the same parameterization, our approach is computationally favorable and has a wider range of applications.

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Correspondence to Pei-Jung Chung.

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Open Access This article is distributed under the terms of the Creative Commons Attribution 2.0 International License ( ), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Chung, PJ., Böhme, J.F. & Hero, A.O. Tracking of Multiple Moving Sources Using Recursive EM Algorithm. EURASIP J. Adv. Signal Process. 2005, 534685 (2005).

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Keywords and phrases

  • sensor array processing
  • recursive estimation
  • moving sources
  • tracking