Adaptive filtering in underwater tracking with correlated measurement noise
M.L. Graham, Francis J. O'Brien, Kai F. Gong, Sherry E. Hammel · IEEE International Conference on Acoustics Speech and Signal Processing · 1993
The authors describe a multistage, hierarchical adaptive filtering technique derived for a complex, real-time nonlinear state estimation problem where the measurement noise is markedly non-Gaussian. The relative efficiency of the derived mathematical model was demonstrated through a Monte Carlo simulation experiment employing noisy angle-of-arrival measurements for undersea tracking.>