This work deals with Maximum Likelihood (ML) Direction of Arrival (DOA) estimation of multiple moving sources. The time-varying DOAs are described by a linear polynomial. Based on the recursive EM algorithm, we developed a recursive procedure to estimate the coefficients of the corresponding polynomial. Because of the simple structure of augmented data, the resulted recursion has a very simple implementation. Compared to the recursive algorithm developed by Frenkel and Feder, our approach has the advantage of being insensitive to signal variations. In addition, extension to the wideband case is straitforward. Simulation results show that closely spaced signals can be successfully tracked by the proposed method.
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