High duty cycle sonar (HDCS) systems have a high potential for improving tracking performance compared to conventional pulsed active sonar systems, but their implementation has been challenging to achieve. This is because conventional studies had focused primarily on solving direct blast interference problems caused by continuous transmission and reception of pulse train waveforms. In this paper, we propose a design scheme for a generalized sinusoidal frequency modulated (GSFM) pulse train waveform to improve HDCS tracking performance. The proposed optimization scheme utilizes the trade-off relationship between detection performance in a reverberation environment and measurement uncertainty according to the parameter ρ of the GSFM waveform. The detection probability and measurement noise covariance matrix of the Kalman filter are calculated using the HCDS tracking framework, which reflects the designed GSFM pulse train waveform in the tracking process. The simulation using the HDCS tracking framework demonstrated that optimal tracking performance was obtained when the parameter ρ was 1.07.INDEX TERMS Generalized sinusoidal frequency modulated waveform, high-duty cycle sonar system, high duty cycle sonar tracking, pulse train waveform design,
I. INTRODUCTIONO VER the past few decades, research on active sonar systems have mainly focused on the pulsed active sonar (PAS) system which transmits a short pulse-type waveform with a long waiting interval when considering its maximum detection range. Due to the long waiting interval, PAS systems suffer from a low target revisit rate (TRR), which leads to a lack of measurements. Consequently, it is difficult to suppress clutter in shallow water and obtain a high tracking performance for long-range moving targets [1,2,3].Recently, the hardware of modern sonar systems have been upgraded enabling a wider dynamic range, and thus solving the problem of saturation when signals with vastly different reception levels are received [3,4]. From a geometrical perspective, modern sonar technologies show a trend towards the operation of multiple platforms and long-range detection; therefore, research on bistatic systems or multistatic sonar systems that are operated with separate transmitters and receivers is being actively conducted [5,6,7,8]. Out of these research trends, a new concept of high duty cycle sonar (HDCS) system is emerging [