TECHNOLOGY Application of Modified Gain Extended Kalman Filter for Underwater Passive Target Tracking Using Angles Only Measurements
Ashok Kumar, Ch. Sri Chaitanya · 2013
Underwater, Passive Target tracking,for a moving ob server, observation will be a critical task. Modifi ed Gain Extended Kalman Filter (MGEKF) developed by Song and Speyer [3] was proven to be suitable algorit hm for angles only passive target tracking applications in air. In this paper, this improved MGEKF algorithm is explored for underwater applications with some modifications. In underwater, the noise in the measurements is very high, turning rate of the platforms is low and speed of the platf orms is also low when compared with the missiles in air. These characteristics of the platform are studied in deta il and the algorithm is modified suitably for track ing applications in underwater. Monte-Carlo simulated results for one t ypical scenario is presented for the purpose of exp lanation. From the results it is observed that this algorithm is s uitable for moving observer in underwater passive t arget tracking using angles only measurements.