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arXiv · 2503.16236

Distributed Algorithm for Cooperative Joint Localization and Tracking Using Multiple-Input Multiple-Output Radars

Astrid Holm Filtenborg Kitchen·Mikkel Sebastian Lundsgaard Brøndt·Marie Saugstrup Jensen·Troels Pedersen·Anders Malthe Westerkam
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Abstract

We propose a distributed joint localization and tracking algorithm using a message passing framework, for multiple-input multiple-output radars. We employ the mean field approach to derive an iterative algorithm. The obtained algorithm features a small communication overhead that scales linearly with the number of radars in the system. The proposed algorithm shows good estimation accuracy in two simulated scenarios even below 0 dB signal to noise ratio. In both cases the ground truth falls within the 95 % confidence interval of the estimated posterior for the majority of the track.

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Astrid Holm Filtenborg Kitchen, Mikkel Sebastian Lundsgaard Brøndt, Marie Saugstrup Jensen, Troels Pedersen, Anders Malthe Westerkam. 2025-03-20. Distributed Algorithm for Cooperative Joint Localization and Tracking Using Multiple-Input Multiple-Output Radars. https://arxiv.org/abs/2503.16236

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