Underwater State Estimation using Bearings only Measurements with an Emphasis on Sonar
S. Koteswara Rao, Guduru Naga Divya · 2021 3rd International Conference on Advances in Computing, Communication Control and Networking (ICAC3N) · 2021
Surveillance in underwater is very important in naval defence system. This is done by using the acoustic/sound waves in underwater rather than optic/ electromagnetic waves as these are susceptible to high attenuation. The Sonar which uses the acoustic waves to detect and track the target is mounted/ placed on the observer ship/ submarine. The Sonar generate the bearing measurements. Sonar operates both in active and passive modes. Sonar operating in passive mode is generally preferred as there is less or no risk for the observer of being tracked by the target. In this research work, an overview of sonar operation is presented and the unscented Kalman filter algorithm is applied to track the target path using bearing measurements. The simulation results are presented obtained using Matlab. The UKF algorithm is evaluated using Monte-Carlo simulation.