PARAMETERIZED MODIFIED GAIN BEARINGS-ONLY EXTENDED KALMAN FILTER UNDERSEA TARGET TRACKING


Jawahar Annabattula

Abstract


Inclusion of range, course and speed parameterization is proposed for Modified Gain Bearings Only Extended Kalman Filter to track a torpedo using bearings-only measurements. Parameterization is included to obtain fast convergence in estimated torpedo motion parameters. The ownship is assumed to be under torpedo attack and the bearing measurements are available from hull mounted array of the ownship. Observer uses estimated torpedo motion parameters to calculate optimum evasive maneuver.  Monte-Carlo simulation is carried out and the results are presented for typical scenarios with and without parameterization. It is noted that parameterization reduces the time of convergence and the results are satisfactory.

 


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Title

PARAMETERIZED MODIFIED GAIN BEARINGS-ONLY EXTENDED KALMAN FILTER UNDERSEA TARGET TRACKING

Date

31-12-2016

Additional Links

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Journal

Innovare Journal of Sciences
VOL 5 ISSUE 1 JANUARY-FEBRUARY 2017 Page: 1-7

Online ISSN

2321-5496

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Authors & Affiliations

Jawahar Annabattula
Department of EEE Sanketika Institute of Technology and Management Visakhapatnam
India


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