Posterior Cramer-Rao lower bounds for multitarget bearings-only tracking

Usually, only the Cramer-Rao lower bound (CRLB) of single target is taken into consideration in the state estimate of passive tracking systems. As for the case of multitarget, there are few works done due to its complexity. The recursion formula of the posterior Cramer-Rao lower bound (PCRLB) in multitarget bearings-only tracking with the three kinds of data association is presented. Meanwhile, computer simulation is carried out for data association. The final result shows that the accuracy probability of data association has an important impact on the PCRLB.