Tracking a three-dimensional moving target with two-dimensional angular measurements from multiple passive sensors

This paper addresses the problem of target tracking with angular measurements from distributed passive sensors. The usual triangulation method requires that the sensors observe a moving target synchronously to determine the target range. This paper proposes a new method which is applicable for the situation where the sensors observe the target asynchronously. The method assumes that each sensor observes two-dimensional angle, i.e., azimuth and elevation, and the target position and velocity in a three-dimensional space are to be estimated.