State Vector’s Fusion for Passive Underwater Tracking Using Two Sensor Arrays

Abstract

The issue of real-time state estimation in passive target tracking using only bearing measurements is addressed in this research. An algorithm has been developed to detect multiple targets and fuse state vectors when a single target is detected. Target detection is carried out considering the state vectors from two different sensor arrays with various noise variances. The algorithm is evaluated against targets having unique and identical parameters such as range, speed and course. The state vectors are determined using three different filtering techniques, namely, extended Kalman filter (EKF), modified gain bearings-only EKF and unscented Kalman filter. Using the MATLAB software environment, Monte-Carlo simulations are conducted to more precisely assess algorithm performance.

KEYWORDS:

• Bearings-only tracking
• Estimation theory
• Kalman filter
• Nonlinear filters
• State vector fusion
• Underwater target tracking

Disclosure statement

No potential conflict of interest was reported by the author(s).

Additional information

Notes on contributors

Kausar Jahan

Kausar Jahan assistant professor, Dadi Institute of Engineering and Technology, Anakapalle, Andhra Pradesh, India. She completed her BTech in 2009 at JNTU Kakinada, MTech in 2015 at JNTU Kakinada and PhD in 2022 from Koneru Lakshmaiah Education Foundation, Guntur, Andhra Pradesh all in ECE. Email: [email protected]

S. Koteswara Rao

S Koteswara Rao former scientist “G” in NSTL, DRDO, Visakhapatnam is currently working as professor in Koneru Lakshmaiah Education Foundation, Vaddeswaram, Guntur, Andhra Pradesh, India. He received his BTech in 1977 at JNTU and ME in 1979, PSG College of Technology, Coimbatore and PhD at Andhra University all in Electrical Engineering. He published several papers in international conference and journals in the field of signal processing. He is a fellow member of IETE. Corresponding author. Email: [email protected]; [email protected]

G. Naga Divya

G Naga Divya graduated in electronics and communication engineering from Koneru Lakshmaiah College of Engineering, Acharya Nagarjuna University, Guntur in 2010 and did her master's degree with a specialization in Radar and Microwave Engineering from Andhra University in 2014. Presently working as a research scholar in the Dept. of E.C.E in KLEF (Deemed to be university). Email: [email protected]