Algorithm for detection of manoeuvring targets in bearings-only passive target tracking
S. Koteswara Rao · IEE Proceedings - Radar Sonar and Navigation · 1999
The feasibility of modified gain extended Kalman filter using bearings-only measurements is explored for underwater applications. A much simpler version of the modified function is considered for the development of algorithm. This algorithm estimates target motion parameters and detects target manoeuvre, using zero mean chi-square distributed random sequence residuals, in a sliding window format. The detection of target manoeuvre, in particular in highly nonlinear (high bearing-rate) scenarios, is explored. The performance of this algorithm is evaluated in Monte Carlo simulations, and results are shown for various typical geometries.