Data association from two acoustic-magnetic measurement sites

This paper is dealing with the localisation problem of acoustic-magnetic sources moving in straight line at constant speed. Our technique is based on the association of acoustic Doppler and magnetostatic methods when two measurement sites are available. In that case the problem is not fully observable and a ghost solution remains. We present an extended Kalman filter with an extensive state vector and a linear observation equation. This structure ensures high convergence properties in case of poor initialisation as is shown on a comparative example.