Track initiation algorithm for bearing-only target tracking in complex background

Aiming at the difficulty of the target track initiation with bearing-only and no distance information under the complex background, an improved heuristic track initiation algorithm is proposed. Based on the motion characteristics of the target in the azimuth-pitch coordinate system, the motion trajectory of the target and clutter distribution are modeled. Combining the heuristic track initiation algorithm with Kalman filtering can build target track rapidly under complex background and ensure a higher probability of truth track. This method meets the full performance of the heuristic track initiation algorithm, and has a high probability of correct track in the case of multiple clutter numbers or high clutter density. Finally, the simulation is performed to verify the effectiveness of the proposed algorithm.