In this paper a new multiple targets angle tracking algorithm is proposed. First, high-resolution method can be used to derive the number of targets and the targets, initial angles. Then the angle of each target at different time could be estimated by updating the covariance matrix estimated through the sensor outputs. In this algorithm, the angles estimated at conjoint time are auto associated, so the process of data association could be omitted. Furthermore, this paper presents two modified methods: one is that the predicted angles are introduced to decrease the errors caused by two approximations, and the other is that the memory track are used when some targets are crossed. Simulation results show the algorithm has high tracing performance.
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