Networks of Maritime Radar Systems: Sensor Selection Algorithm for PD ≪ 1 Based on the Modified Riccati Equation

This paper presents a novel sensor selection algorithm for target tracking, based on the Modified Riccati Equation (MRE). The MRE provides an upper bound of the Cramér-Rao lower bound (CRLB) and is easily calculated. Using the MRE, it is possible to include sensors with a probability of detection Pd ≪ 1. State estimation is done with a modified Particle Filter (PF), taking into account missed detections. The performance of the MRE sensor selection scheme is studied for single and multiple steps ahead, and, for the case of Pd = 1, compared with other methods.