This paper addresses distributed registration of a sensor network for multitarget tracking. Each sensor gets measurements of the target position in a local coordinate frame, having no knowledge about the relative positions (referred to as drift parameters) and azimuths (referred to as orientation parameters) of its neighboring nodes. The multitarget set is modeled as an independent and identically distributed (i.i.d.) cluster random finite set (RFS), and a consensus cardinality probability hypothesis density (CPHD…