Abstract
In this paper, we study the problem of the joint detection and direction-of-arrival (DOA) tracking of a single moving source which can randomly appear or disappear from the surveillance volume. Firstly, the Bernoulli random finite set (RFS) is employed to characterize the randomness of the state process, i.e., the dynamics of the source motion and the source appearance. To increase the performance of the detection and DOA tracking in low signal-to-noise ratio (SNR) scenarios, the measurements are obtained directly from an array of sensors and allow multiple snapshots. A track-before-detect (TBD) Bernoulli filter is proposed for tracking a randomly on/off switching single dynamic system. Secondly, since the variances of the stochastic signal and measurement noise are unknown in practical applications, these nuisance parameters are marginalized by defining an uninformative prior, and the likelihood function is compensated by using the information theoretic criteria. The simulation results demonstrate the performance of the filter.