Target tracking algorithm for passive coherent location

A target tracking algorithm for the passive coherent location based on a two-stage scheme is proposed and implemented. The track initiation, the tentative track filtering and the data association for all tracks are performed in bistatic coordinates using a linear decoupled Kalman filter. The confirmed track filtering is performed in Cartesian coordinates by non-linear unscented Kalman filtering. Transformation of the measurements and their covariances from bistatic to Cartesian coordinates and vice versa are implemented via unscented transformation for 2n sigma-points.