Particle filtering approach to multistatic underwater sensor networks with left-right ambiguity

This paper develops a data fusion strategy for the bistatic source-target-receiver geometry with left/right ambiguity via particle filtering. The ambiguous contacts, as opposed to false alarms, are coherent in time in the sense that a tracker would generate two tracks: The true one and the ghost one. The problem is complicated by the presence of missed detections of the target and false alarms.