Localization and fusion in multistage sonar

This paper develops bistatic contact localization statistics as a function of source-receiver target geometry, source and receiver location errors, sound speed errors, time and bearing errors, and array heading errors. We verify the analysis through Monte Carlo simulation, and study localization accuracy as a function of source-receiver-target geometry and the size of measurement errors. We develop an equivalent measurement methodology that quantifies the superior accuracy of fused multistatic contacts.