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Tracking an Underwater Object with Unknown Sensor Noise Covariance Using Orthogonal Polynomial Filters
Kundan Kumar1, Shovan Bhaumik1, Sanjeev Arulampalam2,3
1Department of Electrical Engineering, Indian Institute of Technology Patna, Patna 801103, India.
Sensors (Basel, Switzerland)
|July 9, 2022
Summary
This study introduces a novel underwater target tracking method using passive sensors. The developed estimator accurately tracks targets even with unknown noise, outperforming existing filters with fewer computations.
Area of Science:
- Underwater acoustics
- Target tracking
- Sensor signal processing
Background:
- Passive sensor systems are crucial for underwater target tracking.
- Accurate estimation of target state and sensor noise covariance is challenging.
- Existing methods like adaptive sigma point filters can suffer from Cholesky decomposition errors.
Purpose of the Study:
- To develop an advanced underwater target tracking method using passive sensors.
- To estimate target position and velocity alongside unknown, time-varying measurement noise covariance.
- To improve tracking accuracy and computational efficiency compared to existing algorithms.
Main Methods:
- A novel estimator linearizes nonlinear measurements using orthogonal polynomials and numerical integration.
- Online estimation of unknown sensor noise covariance from residual measurements.
- Application to two underwater tracking scenarios with nearly constant velocity targets.
Main Results:
- The proposed method successfully tracks underwater targets in both simulated scenarios.
- Performance is robust even with unknown and time-varying measurement noise covariance.
- Incorporating Doppler frequency measurements significantly enhances tracking accuracy.
Conclusions:
- The developed method provides accurate and robust underwater target tracking.
- It offers comparable performance to adaptive deterministic support point filters but with significantly reduced computational cost (flops).
- The method is particularly effective when Doppler-shifted frequency measurements are available.
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