An Innovate Approach to Sonar Signal Based Undersea Non Maneuvering Target Localisation

The passive target tracking using bearings-only measurements is studied for several underwater applications This research effort is to track the target even though the range measurements are not available. As range measurement is not available and the bearing measurement is not linearly related to the target states, the whole process becomes nonlinear. But many times it is difficult to carry out maneuver by own ship due to tactical reasons. Unscented Angles-only Kalman Filter (UAKF) is used for bearing and elevation target tracking.  The mathematical modeling and simulation have been carried out. It is shown that UAKF algorithm effectively tracks the target in underwater environment.