3D Underwater Uncooperative Target Tracking for a Time-Varying Non-Gaussian Environment by Distributed Passive Underwater Buoys

Abstract

Accurate 3D passive tracking of an underwater uncooperative target is of great significance to make use of the sea resources as well as to ensure the safety of our maritime areas. In this paper, a 3D passive underwater uncooperative target tracking problem for a time-varying non-Gaussian environment is studied. Aiming to overcome the low observability drawback inherent in the passive target tracking problem, a distributed passive underwater buoys observing system is considered and the optimal topology of the distributed measurement system is designed based on the nonlinear system observability analysis theory and the Cramer–Rao lower bound (CRLB) analysis method. Then, considering the unknown underwater environment will lead to time-varying non-Gaussian disturbances for both the target’s dynamics and the measurements, the robust optimal nonlinear estimator, namely the adaptive particle filter (APF), is proposed. Based on the Bayesian posterior probability and Monte Carlo techniques, the proposed algorithm utilizes the real-time optimal estimation technique to calculate the complex noise online and tackle the underwater uncooperative target tracking problem. Finally, the proposed algorithm is tested by simulated data and comprehensive comparisons along with detailed discussions that are made to demonstrate the effectiveness of the proposed APF.

Variational Bayesian cardinalized probability hypothesis density filter for robust underwater multi-target direction-of-arrival tracking with uncertain measurement noise

“…The direction-of-arrival (DOA) estimation and tracking is an important research topic in sonar signal processing [1][2][3][4][5]. For the scenario of moving targets, the traditional DOA estimation methods cut the measurement of the output of sonar array signal into small periods in time to process, which ignores the kinematic characteristics of the targets [6][7][8].…”

Performance Comparison of ToA and TDOA Based Tracking In Underwater Multipath Environments Using Bernoulli Filter

“…The simulations are run in a flat bathymetry with 40 m depth, like the south of the Sea of Marmara. The optimal topology of the underwater sensor network is another research problem [45]. We preferred to exclude this problem and configured a simple geometry but added a scenario with randomized sensor locations for comparison.…”

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

“…This research paper discusses the use of passive sonar to track the target measurements, approximate the TMPs with non-linear filtering algorithms and minimize the measurement noise. The observer tracks the noisy sonar bearing and elevation by a moving target in a passive listening mode (Li, 2012;Mallick et al, 2012aMallick et al, , 2012bHou et al, 2021). It is assumed that the hullmounted sonar of the observer platform picks up the acoustic signal emitted from the target and generates a sequence of measurements that are bearing and elevation of the target.…”