An Underwater Maneuvering Target Tracking Algorithm Based on UKF with Adaptive Sampling Range
Xintong Wu, Yu Liu, Xiaochuan Ma · 2023
Due to relatively high measurement errors and low data rate of the active sonar system, large tracking delay may occur during the target's maneuvering phase in the IMM algorithm. Instead of setting high-level process noise artificially to improve maneuver detection ability while sacrificing the tracking accuracy, an adaptive strategy based on range rate measurement is proposed to adjust the sampling range of the unscented transform (UT) online to cover maneuvers. In addition, a heading check mechanism is employed to alleviate the model misjudgment when the heading and the bearing of the target are nearly collinear. The proposed method does not rely on a priori knowledge about the maneuver level and achieves high tracking accuracy and quick maneuver response at the same time.