Bearing-Only Tracking in the Presence of Port-Starboard Ambiguities Using a Labeled Multi-Bernoulli Filter
Ce Zheng, Yankun Chen, Qisen Wang, Ming Xiang, Sijian Liu, Chaoyang Dong · 2024
In this study, an unmanned underwater vehicle (UUV) equipped with passive sonar is considered to detect the presence of moving targets and estimate their relative locations. However, a serious problem is that because of its geometry, the passive sonar cannot distinguish between targets on its port and starboard sides because of the geometry of the passive sonar. To address the port-starboard ambiguity, an enhanced labeled multi-Bernoulli filter was proposed. The single-target state is augmented with a mode variable to indicate its origin on the port or starboard side of the UUV. Consequently, by constraining the admissible dynamics of the targets, the probability of the mode on the actual side increases after a UUV maneuver because the target's state on this side maintains consistency and regularity. The simulation results show that the proposed method effectively tracks multiple targets in the presence of any port-starboard ambiguity.