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

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.