1. Method for simultaneously tracking a plurality of objects and registering a plurality of object-locating sensors mounted on a vehicle relative to the vehicle, comprising: monitoring sensor data from the plurality of object-locating sensors; monitoring a plurality of historical target tracks for the plurality of objects; monitoring historical sensor registration data; simultaneously tracking the plurality of objects and registering the plurality of object-locating sensors based upon the sensor data, the historical sensor registration data, the plurality of historical target tracks, location and orientation of the sensors to the vehicle and a sensor data covariance matrix; updating the plurality of historical target tracks for each of the plurality of objects based upon the tracking of the plurality of objects; and updating the historical sensor registration data based upon the registering of the plurality of object-locating sensors.