Indian Journal of Science and Technology

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In surveillance sonar passive tracking for bearing measurements has been done so far by using kalman filter and its modifications. In this paper, target is assumed to be moving mostly at constant velocity in underwater scenario. Unscented Kalman Filter has been utilised to track underwater submarine target/moving ship. Monte Carlo Simulation in PC environment is used to prove the effectiveness of UKF. Cases taken up are Ownship/Target S or L manoeuvring. Methods applied include for target tracking, mathematical modelling, and bearings only techniques. Simulation results have been obtained and comparison has been made based on typical scenarios. Different configurations of underwater scenarios can be taken up for further research.

Keywords

Bearings, Line of Sight, Monte Carlo Simulation, Ownship, S-Manoeuvring, Unscented Kalman filter
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