**Zhengwang Tian, Weifeng Liu \* and Xinfeng Ru**

Xiasha Higher Education Zone, Hangzhou 310018, Zhejiang, China; 17764590774@163.com (Z.T.); a840064210@hdu.edu.cn (X.R.)


Received: 31 October 2019; Accepted: 6 December 2019; Published: 10 December 2019

**Abstract:** This paper deals with mobile multi-target detection and tracking. In the traditional method, there are uncertainties such as misdetection and false alarm in the measurement data, and it will be inevitable having to deal with the data association. To solve the target trajectory and state estimation problem under a cluttered environment, this paper proposes a non-concurrent multi-target acoustic localization tracking method based on the Gibbs-generalized labelled multi-Bernoulli (Gibbs-GLMB) filter and considers an acoustic array of a fixed arrangement for the tracking of targets by joint time difference of arrival (TDOA) and angle of arrival (AOA) measurements. Firstly, the TDOAs are calculated by using the generalized cross-correlation algorithm (GCC) and the AOAs are derived from the received signal directions. Secondly, we assume the independence of the targets and fuse the measurements which are used to track the multiple targets via the Gibbs-GLMB filter. Finally, the effectiveness of the method is verified by Monte Carlo simulation experiments.

**Keywords:** passive localization; time difference of arrival; angle of arrival; random finite sets; Gibbs sampling; GLMB filter; multi-target tracking
