Extended kalman filter for bearings-only tracking

Abstract

Target tracking using bearings-only measurements in passive mode operation of sonar is a crucial issue of underwater tracking. Target motion in underwater scenario is analyzed using bearings-only measurements and calculating parameters like range, course and speed of the target. This is called Target Motion Analysis (TMA). TMA process is highly non-linear as the measurements chosen are nonlinearly related to the selected target state vector and the traditional, optimal linear Kalman filter will not be appropriate to use. It is presumed that the target is moving in straight line path with constant velocity, so Extended Kalman Filter (EKF) is proposed in this paper. The algorithm is simulated for several scenarios using MATLAB. Monte-Carlo runs are performed to evaluate the capability of the algorithm.