The generalized Kalman filter approach to adaptive underwater target tracking

Underwater target tracking system can be kept covert using the bearing-only or the bearing-Doppler measurements (passive measurements), which will reduce the risk of been detected. According to the characteristics of underwater target tracking, the square root unscented Kalman filter (SRUKF) algorithm, which is based on the Bayesian theory, was applied to the underwater bearing-only and bearing-Doppler non-maneuverable target tracking problem. Aiming at the shortcomings of the unscented Kalman filter (UKF), the SRUKF uses the QR decomposition and the Cholesky factor updating, in order to avoid that the process noise covariance matrix loses its positive definiteness during the target tracking period. The SRUKF uses sigma sampling to avoid the linearization of the nonlinear bearing-only and the bearing-Doppler measurements. To ensure the target state observability in underwater target tracking, the paper uses single maneuvering observer to track the single non-maneuverable target. The simulation results show that the SRUKF has better tracking performance than the extended Kalman filter (EKF) and the UKF in tracking accuracy and stability, and the computational complexity of the SRUKF algorithm is low.

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Pervasive underwater passive target tracking for the computation of standard deviation solution in a 3D environment

International Journal of Intelligent Computing and Cybernetics ◽

10.1108/ijicc-06-2021-0104 ◽

2021 ◽

Vol ahead-of-print (ahead-of-print) ◽

Author(s):

M. Kavitha Lakshmi ◽

S. Koteswara Rao ◽

Kodukula Subrahmanyam

Keyword(s):

Monte Carlo Simulation ◽

Monte Carlo ◽

Kalman Filter ◽

Standard Deviation ◽

Target Tracking ◽

Unscented Kalman Filter ◽

Three Dimensional ◽

Content Type ◽

3D Space ◽

Underwater Target

PurposeNowadays advancement in acoustic technology can be explored with marine assets. The purpose of the paper is pervasive computing underwater target tracking has aroused military and civilian interest as a key component of ocean exploration. While many pervasive techniques are currently found in the literature, there is little published research on the effectiveness of these paradigms in the target tracking context.Design/methodology/approachThe unscented Kalman filter (UKF) provides good results for bearing and elevation angles only tracking. Detailed methodology and mathematical modeling are carried out and used to analyze the performance of the filter based on the Monte Carlo simulation.FindingsDue to the intricacy of maritime surroundings, tracking underwater targets using acoustic signals, without knowing the range parameter is difficult. The intention is to find out the solution in terms of standard deviation in a three-dimensional (3D) space.Originality/valueA new method is found for the acceptance criteria for range, course, speed and pitch based on the standard deviation for bearing and elevation 3D target tracking using the unscented Kalman filter covariance matrix. In the Monte Carlo simulation, several scenarios are used and the results are shown.

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Hybrid Unscented Kalman Filter with Rare features for Underwater Target tracking using Passive Sonar Measurements

Optik ◽

10.1016/j.ijleo.2020.165813 ◽

2021 ◽

Vol 226 ◽

pp. 165813

Author(s):

D.V.A.N. Ravi Kumar

Keyword(s):

Kalman Filter ◽

Target Tracking ◽

Unscented Kalman Filter ◽

Passive Sonar ◽

Underwater Target

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Underwater Target Tracking using Unscented Kalman Filter

Indian Journal of Science and Technology ◽

10.17485/ijst/2015/v8i31/77054 ◽

2015 ◽

Vol 8 (31) ◽

Cited By ~ 4

Author(s):

Mylapilli Nalini Santhosh ◽

S. Koteswara Rao ◽

Rudra Pratap Das ◽

K. Lova Raju

Keyword(s):

Kalman Filter ◽

Target Tracking ◽

Unscented Kalman Filter ◽

Underwater Target

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Unscented Particle Filter Approach for Underwater Target Tracking

International Journal of e-Collaboration ◽

10.4018/ijec.2021100103 ◽

2021 ◽

Vol 17 (4) ◽

pp. 29-40

Author(s):

B. Omkar Lakshmi Jagan ◽

S. Koteswara Rao ◽

Kausar Jahan

Keyword(s):

Particle Filter ◽

Target Tracking ◽

Matlab Simulation ◽

Research Papers ◽

Target Trajectory ◽

Unscented Particle Filter ◽

Measurement Equations ◽

Motion Parameters ◽

Filter Approach ◽

Underwater Target

This research aims to find an appropriate approach to improve system accuracy in the Doppler-bearing tracking (DBT) problem for target estimation. The topic of DBT problem is to achieve a target trajectory using bearing and frequency measurements. The difficulty of DBT problem comes from the nonlinearity terms exposed in the measurement equations. The unscented particle filter approach is proposed to estimate the accuracy in the target motion parameters (TMP). This approach requires the observer maneuver so that the target trajectory is observable. Although in recent research papers, DBT has been proven to work efficiently without observer maneuver, TMP is unknown to the observer, and consequently, there is a need for observer maneuver. So, the algorithm is simulated with observer following s-maneuver and without any maneuver executed by the observer, and results are compared. The effectiveness of the solution and results are determined by using MATLAB simulation. It is shown that the truthfulness of the outcome is superior when the observer performs s-maneuver while compared to that without observer maneuver.

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