Abstract: A method and system for tracking various objects utilizing a plurality of sensors. Separate locations or platforms are provided with a number of sensors collocated with an energy generation/ reflection device, and also a communication device. Each of the platforms is termed local nodes of a multi-sensor fusion system, and possibly can experience relative translational and/or rotational motion in as many as three dimensions with respect to itself and with respect to similar local nodes. Each local node is capable of measuring some combination of bearing angles and/or range and/or respective derivatives from the local node to cooperative local nodes by generating or reflecting energy such that cooperative local nodes may obtain mutual sensor measurements. Information obtained or processed by each local node, including track data or track estimates, are possibly transmitted to one or more central nodes denoted as fusion centers provided with processing capabilities.