Application of Particle Filter using TA Bearing Measurements
B. Omkar Lakshmi Jagan, S. Koteswara Rao, A. Jawahar, S. K. B. Karishma · Indian Journal of Science and Technology · 2016
Background/Objectives: An Algorithm, the Particle filter, is proposed for implementing the bearings only Torpedo Motion Analysis (TMA).The required density of the state vector is represented as a set of random samples, which are updated and propagated by the algorithm. The method is not restricted by assumptions of linearity or Gaussian noise. Methods/Statistical analysis: The particle filter is combined with Modified Gain Bearings Only Extended Kalman Filter and the results are compared with that of Extended Kalman Filter or Unscented Kalman Filters. Findings: Almost similar performance is obtained. The algorithm is applied to track a torpedo using measurements available from towed array. Application/Improvements: The results in simulation mode and with sea trial data are presented. Keywords: Algorithm,Estimation,Gaussianity,Kalman Filter, Linearity,Simulation,Towed Array