Modified Polar Extended Kalman Filter (MP-EKF) for Bearings - Only Target Tracking

Background/Objectives: Surveillance is most crucial part of maritime environment. The target needs to be tracked within shortest possible time with low complexity and computational cost. Methods/Statistical Analysis: Modified Polar Extended Kalman Filter is well suited for bearing only target tracking. In this paper a mathematical modelling and Monte Carlo simulation has been carried out. Findings: It is found out that MPEKF effectively tracks the underwater target. Therefore, it is suitable estimation algorithm for bearings-only underwater passive target tracking.