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In this paper, we propose a computationally efficient direction-of-arrival (DoA) tracking scheme called the direct signal space construction Luenberger tracker (DSPCLT) with quadratic least square (QLS) regression. Also, we study analytically how the choice of observer gain affects the algorithm performance and illustrate how we can use the theoretical results in determining optimal observer gain value. The proposed scheme (DSPCLT) has several distinct features compared with existing algorithms. First, it requires only a fraction of computational complexity compared with other schemes. Secondly, it maintains robustness by treating separately the special case of object overlap in which subspace-based algorithms often suffer from lack of resolvability. Thirdly, the proposed scheme achieves enhanced performance by a method of delay compensation, which accounts for observation delay. Through numerical analysis, we show that DSPCLT achieves performance similar or superior to existing algorithms with only a fraction of computational requirement.

Direct Signal Space Construction Luenberger Tracker with Quadratic Least Square Regression for Computationally Efficient DoA Tracking