The Joint Detection/Estimation Filter (JDEF) [1,2] can be utilized to improve the performance of a single Extended Kalmart Filter (EKF) when the problem of estimation involves a large initial variance. In this case the JDEF is used to estimate the presence and location of a point target when the received signal is corrupted by multipath. In the formulation of the problem it was assumed that both the target and sensor were stationary and that there was an equal probability of the point target being present or absent along a center look direction. This implementation of the JDEF proved to be quite successful and can be easily expanded to estimate a larger number of unknown parameters.
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