A modular approach to the multisensor-multitarget problem is presented. This approach reduces the multitarget problem to several single-target problems. An algorithm based on this approach is described. The application of this algorithm to the simulated tracking of several maneuvering targets in an underwater environment and the numerical results obtained in this application are discussed. The validity of using the observation residuals in the data discrimination process and the data-target correlation is demonstrated through application
