Passive Target Tracking using Unscented Kalman Filter based on Monte Carlo Simulation

K  Lova Raju; S  Koteswara Rao; Rudra Pratap Das; M  Nalini Santhosh  and A  Sampath Dakshina Murthy

doi:10.17485/ijst/2015/v8i29/76981

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Passive Target Tracking using Unscented Kalman Filter based on Monte Carlo Simulation

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Indian Journal of Science and Technology

DOI: 10.17485/ijst/2015/v8i29/76981

Year: 2015, Volume: 8, Issue: 29, Pages: 1-7

Original Article

Passive Target Tracking using Unscented Kalman Filter based on Monte Carlo Simulation

K. Lova Raju^{1 *}, S. Koteswara Rao² , Rudra Pratap Das¹ , M. Nalini Santhosh¹ and A. Sampath Dakshina Murthy¹

¹Department of ECE, Vignan’s Institute of Information Technology, Visakhapatnam - 530046, Andhra Pradesh, India;
[email protected], [email protected], [email protected], [email protected]
² Department of ECE, K L University, Vaddeswaram, Guntur District - 522502, Andhra Pradesh, India; [email protected]

This work is licensed under a Creative Commons Attribution 4.0 International License.

Abstract

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