Measure of nonlinearity for underwater target tracking using hull-mounted sensor

Abstract

PurposeDoppler-Bearing Tracking (DBT) is commonly used in target tracking applications for the underwater environment using the Hull-Mounted Sensor (HMS). It is an important and challenging problem in an underwater environment.Design/methodology/approachThe system nonlinearity in an underwater environment increases due to several reasons such as the type of measurements taken, the speeds of target and observer, environmental conditions, number of sensors considered for measurements and so on. Degrees of nonlinearity (DoNL) for these problems are analyzed using a proposed measure of nonlinearity (MoNL) for state estimation.FindingsIn this research, the authors analyzed MoNL for state estimation and computed the conditional MoNL (normalized) using different filtering algorithms where measurements are obtained from a single sensor array (i.e. HMS). MoNL is implemented to find out the system nonlinearity for different filtering algorithms and identified how much nonlinear the system is, that is, to measure nonlinearity of a problem.Originality/valueAlgorithms are evaluated for various scenarios with different angles on the target bow (ATB) in Monte-Carlo simulation. Computation of root mean squared (RMS) errors in position and velocity is carried out to assess the state estimation accuracy using MATLAB.

Three-Dimensional Tracking of a Target under Angle-Frequency Measurements with Multiple Frequency Lines

“…Considering 3D scenarios, refs. [ 8 , 9 ] addressed the 3D AFTMA problem, where the ownship tracks a target based on frequency, elevation, and bearing measurements. The authors of [ 9 ] addressed the 3D AFTMA, by considering measurement parameters such as frequency, elevation and bearing of the target.…”