Multiple target angle tracking algorithm using predicted angles

We modify a multiple target angle tracking algorithm presented by Sword, et al. (1990). The predicted estimates, instead of the existing estimates, of the target angles are updated by the most recent output of the sensor array to improve the tracking performance of the algorithm for crossing targets. Also, the least square solution is modified to avoid abnormally large angular innovations when the target angles are very close. The improved performance of the proposed algorithm is demonstrated by computer simulations.>