An algorithm for passive tracking of maneuvering target based on multiple arrays
Shuping Han · Applied Acoustics · 2011
Passive tracking of maneuvering target in water based on bearings of multiple sonar arrays is a nonlinear state estimation issue.In this paper,the preliminary estimation of target position is acquired by the least square method based on bearing data acquired by arrays firstly,then the estimated position data are applied as measured values to Interactive Multiple Models(IMM)algorithm with Kalman Filter(KF),finally the velocity as well as track of target can be obtained,avoiding the problems brought by applying nonlinear estimation algorithms for data fusion directly.The result of simulation shows that the proposed algorithm is simple, and the speed of convergence is faster,and the precision of tracking is superior in comparing to passive tracking of maneuvering target based on bearings of two sonar arrays.