A novel passive broadband Bayesian detector/tracker

This paper introduces CPDF, or "cell probability density function," a new statistical detecting and tracking algorithm suitable for any imaging array (such as radar or sonar arrays). The input to the algorithm is the 20 array of intensity levels in all beams as a function of time. CPDF is a three-step algorithm. The steps are: pre-processing, detection, and tracking (bearing estimation). CPDF has been very successful in detecting and tracking targets on broadband data collected by sonar arrays, and has excelled in especially challenging scenarios with high bearing rates and multiple crossing targets.