Track - Before- Detect Labeled Multi - Bernoulli Filter for Multi- Target Bearing-Only Tracking using an Autonomous Underwater Vehicle
Ce Zheng, Yankun Chen, Qisen Wang, Xiang Li, Sijian Liu, Chaoyang Dong · 2024
This paper considers an autonomous underwater vehicle (AUV) mounted with an array of sensors to detect the presence of multiple targets and estimate their relative locations. We propose a track-before-detect labeled multi-Bernoulli filter, which directly utilizes the signals received from the sensor array as the measurement in the form of a sample-covariance matrix (SCM). Tractable filtering equations are derived by using a change of variable and complex inverse-Wishart approximation. Simulation results demonstrate the improved performance of the proposed filter in challenge scenarios of low signal-to-noise ratio and multiple target crossing.