ANALYSIS OF EXTENED KALMAN FILTER USING RANGE AND LINE OF SIGHT MEASUREMENT FOR UNDERSEA TARGET LOCALISATION


Jawahar Annabattula

Abstract


The feasibility of the extended Kalman filter using range and bearing measurements is explored for underwater applications. The Input estimation technique, developed by Bar-Shalom and Fortmann for radar applications is implemented for sonar applications. Input estimation is used to estimate the target acceleration whenever the target makes a maneuver. The algorithm estimates target motion parameters and detects target maneuver using zero mean chi-square distributed random sequence residual. Upon detection of target maneuver, this algorithm corrects the velocity and position components using acceleration components. Finally, the performance of this algorithm is evaluated in Monte-Carlo simulations and results are shown for various typical geometries and found that this input estimation technique can be used for underwater applications.

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About this article

Title

ANALYSIS OF EXTENED KALMAN FILTER USING RANGE AND LINE OF SIGHT MEASUREMENT FOR UNDERSEA TARGET LOCALISATION

Date

31-12-2016

Additional Links

Manuscript Submission

Journal

Innovare Journal of Sciences
VOL 5 ISSUE 1 JANUARY-FEBRUARY 2017 Page: 12-16

Online ISSN

2321-5496

Statistics

61 Views | 75 Downloads

Authors & Affiliations

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


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