Underwater Target Tracking using Unscented Kalman Filter

For bearing and frequency measurements based on Kalman Filters in Sonar noisy situations often create problem. In our paper TMA is used based on Unscented Kalman Filter (UKF) to track target in noisy measurements. Target trajectory is explored through using this technique. The major benefit of this technique is that it provides tactical superiors over the classical bearings techniques overall, observer maneuver is rendered unnecessary. Target motion parameters can be extended for further improvement of their techniques.