If your browser can display embedded SVG, you should be able to see an animation of the tracker based on simulator experimentsotherwise, you can view the animation as an AVI file.
The transparent blue disc with white circumference represents the true target position (as logged by the simulator - it is not available to the tracker). The disc has a radius of 1 unit.
The dog-bone shaped white line represents the target's true path.
The fuzzy, colored disc represents the tracker's estimate of the target position. The color represents the error in the estimate (green=good, red/blue=bad).
The colored line entwining the white line represents the tracker's estimate of the target's path (it is interpolated from discrete position/velocity estimates output by the tracker).
The gray/orange triangles represent the sensors. Each gray/orange line represents one sector: a sector is shown as orange when it is scanning, solid gray when it is powered-up but not scanning, and as transparent gray when it is powered-down.