Prevalence of shifted Rayleigh filter for passive surveillance in underwater
Guduru Naga Divya, S. Koteswara Rao · International Journal of Intelligent Computing and Cybernetics · 2021
Purpose From many decades, bearings-only tracking (BOT) is the interested problem for researchers. This utilises nonlinear filtering methods for state estimation as there is only information about the target, i.e. bearing is a nonlinear measurement. The measurement bearing is tangentially related to the target state vector. There are many nonlinear filtering algorithms developed so far in the literature. Design/methodology/approach In this research work, the recently developed nonlinear filtering algorithm, i.e. shifted Rayleigh filter (SRF), is applied to BOT. Findings The SRF is tested for two-dimensional BOT against various scenarios. The simulation results emphasise that the SRF performs well when compared to the standard nonlinear filtering algorithm, unscented Kalman filter (UKF). Originality/value SRF utilises the nonlinearities present in the bearing measurement through the use of moment matching. The SRF is able to produce the solution in highly noisy environment, long ranges and high dimension tracking.