Open Access

Bearings-Only Tracking of Manoeuvring Targets Using Particle Filters

  • M. Sanjeev Arulampalam1,
  • B. Ristic2,
  • N. Gordon2 and
  • T. Mansell1
EURASIP Journal on Advances in Signal Processing20042004:562960

Received: 2 June 2003

Published: 7 November 2004


We investigate the problem of bearings-only tracking of manoeuvring targets using particle filters (PFs). Three different (PFs) are proposed for this problem which is formulated as a multiple model tracking problem in a jump Markov system (JMS) framework. The proposed filters are (i) multiple model PF (MMPF), (ii) auxiliary MMPF (AUX-MMPF), and (iii) jump Markov system PF (JMS-PF). The performance of these filters is compared with that of standard interacting multiple model (IMM)-based trackers such as IMM-EKF and IMM-UKF for three separate cases: (i) single-sensor case, (ii) multisensor case, and (iii) tracking with hard constraints. A conservative CRLB applicable for this problem is also derived and compared with the RMS error performance of the filters. The results confirm the superiority of the PFs for this difficult nonlinear tracking problem.

Keywords and phrases

bearings-only trackingmanoeuvring target trackingparticle filter

Authors’ Affiliations

Maritime Operations Division, Defence Science and Technology Organisation (DSTO), Edinburgh, Australia
Intelligence, Surveillance & Reconnaissance Division, Defence Science and Technology Organisation (DSTO), Edinburgh, Australia


© Arulampalam et al. 2004