• P-ISSN 0974-6846 E-ISSN 0974-5645

Indian Journal of Science and Technology


Indian Journal of Science and Technology

Year: 2016, Volume: 9, Issue: 13, Pages: 1-6

Original Article

Application of Parameterized Modified Gain Bearings-Only Extended Kalman Filter for Undersea Tracking


Background/Objectives: This paper presents parameterized Modified Gain Bearings Only Extended Kalman Filter to track a torpedo using bearings-only measurements. Methods/Statistical Analysis: The parameterization is included to obtain fast convergence in estimated torpedo motion parameters. Findings: Observer uses estimated target kinematics to determine proper observer manuever calculates. Monte-Carlo simulation is carried out and the results are presented. Application/ Improvements: It is noted that parameterization reduces the time of convergence and the results are satisfactory. 

Keywords: Kalman Filter, Sonar, Torpedo


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