A Bayesian Tracker for Multi-Sensor Passive Narrowband Fusion

摘要

We demonstrate the detection and localization performance of a multi-sensor, passive sonar Bayesian tracker for underwater targets emitting narrowband signals in the presence of realistic underwater ambient noise. Our evaluation focuses on recent advances in the formulation of the likelihood function used by the tracker that provide greater robustness in the presence of both realistic environmental noise and imprecise/inaccurate a, priori knowledge of the target's narrowband signal. These improvements enable the tracker to reliably detect and localize narrowband emitters for a, broader range of propagation environments, target velocities, and inherent uncertainty in a priori knowledge.