Research of Two Observers Adaptive Filter Algorithm and Observability Based on TDOA
Feng Xue · Jisuanji fangzhen · 2007
Taking two observers as an example, a new underwater target tracking system was designed. Based on the measurement of bearings and time-delays between observers, the equation of state and measurement were established. With the observability theorem of nonlinear system and Extend Kalman Filter (EKF), the observability conclusion of the system based on TDOA was discussed. The Monte-Carlo simulation experiment results demonstrate that the new algorithm has better performance. The system is practical and effective.