scholarly journals Passive Underwater Target Tracking: Conditionally Minimax Nonlinear Filtering with Bearing-Doppler Observations

Sensors ◽  
2020 ◽  
Vol 20 (8) ◽  
pp. 2257 ◽  
Author(s):  
Andrey Borisov ◽  
Alexey Bosov ◽  
Boris Miller ◽  
Gregory Miller
Keyword(s):  
Target Tracking ◽  
Nonlinear Filtering ◽  
Numerical Study ◽  
Observation System ◽  
Random Position ◽  
Underwater Target ◽  
Basic Prediction ◽  
Correction Terms ◽  
Position Estimate ◽  
Vehicle Movement

The paper presents an application of the Conditionally-Minimax Nonlinear Filtering (CMNF) algorithm to the online estimation of underwater vehicle movement given a combination of sonar and Doppler discrete-time noisy sensor observations. The proposed filter postulates recurrent “prediction–correction” form with some predefined basic prediction and correction terms, and then they are optimally fused. The CMNF estimates have the following advantageous features. First, the obtained estimates are unbiased. Second, the theoretical covariance matrix of CMNF errors meets the real values. Third, the CMNF algorithm gives a possibility to choose the preliminary observation transform, basic prediction, and correction functions in any specific case of the observation system to improve the estimate accuracy significantly. All the features of conditionally-minimax estimates are demonstrated by the regression example of random position estimate given the noisy bearing observations. The contribution of the paper is the numerical study of the CMNF algorithm applied to the underwater target tracking given bearing-only and bearing-Doppler observations.

Research on Underwater Target Tracking Based on Contour Detection

2011 ◽  
Vol 317-319 ◽  
pp. 890-896
Author(s):  
Ming Jun Zhang ◽  
Yuan Yuan Wan ◽  
Zhen Zhong Chu
Keyword(s):  
Prediction Model ◽  
Target Tracking ◽  
Tracking System ◽  
Contour Detection ◽  
Motion Prediction ◽  
Moving Target ◽  
Contour Extraction ◽  
Tracking Accuracy ◽  
Tracking Method ◽  
Underwater Target

The traditional centroid tracking method over-relies on the accuracy of segment, which easily lead to loss of underwater moving target. This paper presents an object tracking method based on circular contour extraction, combining region feature and contour feature. Through the correction to circle features, the problem of multiple solutions causing by Hough transform circle detection is avoided. A new motion prediction model is constructed to make up the deficiency that three-order motion prediction model has disadvantage of high dimension and large calculation. The predicted position of object centroid is updated and corrected by circle contour, forming prediction-measurement-updating closed-loop target tracking system. To reduce system processing time, on the premise of the tracking accuracy, a dynamic detection method based on target state prediction model is proposed. The results of contour extraction and underwater moving target experiments demonstrate the effectiveness of the proposed method.

scholarly journals A Track Initiation Method for the Underwater Target Tracking Environment

2018 ◽  
Vol 32 (2) ◽  
pp. 206-215
Author(s):  
Dong-dong Li ◽  
Yang Lin ◽  
Yao Zhang
Keyword(s):  
Target Tracking ◽  
Underwater Target ◽  
Track Initiation

Shifted Rayleigh filter: a novel estimation filtering algorithm for pervasive underwater passive target tracking for computation in 3D by bearing and elevation measurements

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Lakshmi M. Kavitha ◽  
Rao S. Koteswara ◽  
K. Subrahmanyam
Keyword(s):  
Target Tracking ◽  
Long Range ◽  
Target Location ◽  
Unscented Kalman Filter ◽  
Three Dimensional ◽  
Content Type ◽  
Solution Convergence ◽  
Passive Target Tracking ◽  
Underwater Target ◽  
Target Motion Analysis

Purpose Marine exploration is becoming an important element of pervasive computing underwater target tracking. Many pervasive techniques are found in current literature, but only scant research has been conducted on their effectiveness in target tracking. Design/methodology/approach This research paper, introduces a Shifted Rayleigh Filter (SHRF) for three-dimensional (3 D) underwater target tracking. A comparison is drawn between the SHRF and previously proven method Unscented Kalman Filter (UKF). Findings SHRF is especially suitable for long-range scenarios to track a target with less solution convergence compared to UKF. In this analysis, the problem of determining the target location and speed from noise corrupted measurements of bearing, elevation by a single moving target is considered. SHRF is generated and its performance is evaluated for the target motion analysis approach. Originality/value The proposed filter performs better than UKF, especially for long-range scenarios. Experimental results from Monte Carlo are provided using MATLAB and the enhancements achieved by the SHRF techniques are evident.

scholarly journals Distributed hybrid consensus–based square-root cubature quadrature information filter and its application to maneuvering target tracking

2019 ◽  
Vol 15 (12) ◽  
pp. 155014771989595
Author(s):  
Jun Liu ◽  
Yu Liu ◽  
Kai Dong ◽  
Ziran Ding ◽  
You He ◽  
...  
Keyword(s):  
Target Tracking ◽  
Nonlinear Filtering ◽  
Computational Cost ◽  
Quadrature Rule ◽  
Square Root ◽  
Maneuvering Target Tracking ◽  
Maneuvering Target ◽  
Matrix Operations ◽  
Information Filter ◽  
Update Strategy

To handle nonlinear filtering problems with networked sensors in a distributed manner, a novel distributed hybrid consensus–based square-root cubature quadrature information filter is proposed. The proposed hybrid consensus–based square-root cubature quadrature information filter exploits fifth-order spherical simplex-radial quadrature rule to tackle system nonlinearities and incorporates a novel measurement update strategy into the hybrid consensus filtering framework, which takes the predicted measurement error into account and hence produces more accurate estimates. In addition, the proposed hybrid consensus–based square-root cubature quadrature information filter inherits the complementary positive features of both consensus on information and consensus on measurements methods and avoids sensitive matrix operations such as square-root decompositions and inversion of covariances, which is beneficial for numerical stability. Stability analysis with respect to consensus, convergence, and consistency for the proposed hybrid consensus–based square-root cubature quadrature information filter is also developed. The effectiveness of the proposed hybrid consensus–based square-root cubature quadrature information filter is validated through a maneuvering target tracking scenario. The simulation results show that the proposed hybrid consensus–based square-root cubature quadrature information filter outperforms the existing algorithms at the expense of a slight increase in computational cost.

scholarly journals An Improved Kernelized Correlation Filter Algorithm for Underwater Target Tracking

2018 ◽  
Vol 8 (11) ◽  
pp. 2154 ◽  
Author(s):  
Xingmei Wang ◽  
Guoqiang Wang ◽  
Zhonghua Zhao ◽  
Yue Zhang ◽  
Binghua Duan
Keyword(s):  
Target Tracking ◽  
Adaptive Filter ◽  
Poor Performance ◽  
Image Sequences ◽  
Correlation Filter ◽  
Tracking Errors ◽  
The Poor ◽  
Continuous Scale ◽  
Underwater Target ◽  
Update Strategy

To obtain accurate underwater target tracking results, an improved kernelized correlation filter (IKCF) algorithm is proposed to track the target in forward-looking sonar image sequences. Specifically, a base sample with a dynamically continuous scale is first applied to solve the poor performance of fixed-scale filters. Then, in order to prevent the filter from drifting when the target disappears and appears again, an adaptive filter update strategy with the peak to sidelobe ratio (PSR) of the response diagram is developed to solve the following target tracking errors. Finally, the experimental results show that the proposed IKCF can obtain accurate tracking results for the underwater targets. Compared to other algorithms, the proposed IKCF has obvious superiority and effectiveness.

scholarly journals Optimal Filtering of Markov Jump Processes Given Observations with State-Dependent Noises: Exact Solution and Stable Numerical Schemes

Mathematics ◽  
2020 ◽  
Vol 8 (4) ◽  
pp. 506
Author(s):  
Andrey Borisov ◽  
Igor Sokolov
Keyword(s):  
Exact Solution ◽  
Nonlinear Filtering ◽  
Innovation Process ◽  
Jump Processes ◽  
State Transitions ◽  
Observation System ◽  
Optimal Filtering ◽  
Markov Jump ◽  
Approximation Accuracy ◽  
Markov Jump Processes

The paper is devoted to the optimal state filtering of the finite-state Markov jump processes, given indirect continuous-time observations corrupted by Wiener noise. The crucial feature is that the observation noise intensity is a function of the estimated state, which breaks forthright filtering approaches based on the passage to the innovation process and Girsanov’s measure change. We propose an equivalent observation transform, which allows usage of the classical nonlinear filtering framework. We obtain the optimal estimate as a solution to the discrete–continuous stochastic differential system with both continuous and counting processes on the right-hand side. For effective computer realization, we present a new class of numerical algorithms based on the exact solution to the optimal filtering given the time-discretized observation. The proposed estimate approximations are stable, i.e., have non-negative components and satisfy the normalization condition. We prove the assertions characterizing the approximation accuracy depending on the observation system parameters, time discretization step, the maximal number of allowed state transitions, and the applied scheme of numerical integration.

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