Speed and Range Parameterised State Estimators for 3D underwater angles-only target tracking problem
Asfia Urooj, Rahul Radhakrishnan, S.N. Sharma · IFAC-PapersOnLine · 2023
An angles-only underwater target tracking problem in three-dimensional space is considered in this work. The uncertainty in the initial range and speed parameters of the target can lead to a loss of accuracy. Hence, a parametrised state estimation approach is opted to achieve better estimation performance for the nonlinear filtering algorithms. To achieve this, the unscented Kalman filter (UKF) and new sigma point Kalman filter (NSKF) has been reformulated by incorporating the speed and range parametrisation concept. A comparison analysis considering different sampling intervals is performed based on root mean square error (RMSE) in position, percentage track loss, and bias norm, for a moderately nonlinear tracking scenario.