Maneuvering Target Tracking Using Continuous Wave Bistatic Sonar with Propagation Delay

摘要

Acoustic propagation delay has not been investigated for a continuouswave multistatic sonar tracking system except for the recentstudy conducted by Jauffret et al. [6], which estimates the trajectoryof a constant velocity target. The results showed that the estimatebias caused by the propagation delay is not negligible, especiallyfor a bistatic system. This paper develops an interacting multiplemodel unscented Gauss-Helmert filter with numerical Jacobian(IMM-UGHF-NJ) to track a maneuvering target with propagationdelay using a bistatic sonar system. The IMM-UGHF-NJ can overcomethe two tracking challenges introduced by the delay, namely,implicit state transition model and lack of analytical expression ofthe Doppler shifted frequency in the measurement model. Simulationtests have been conducted, and the results show that the IMMUGHF-NJ can reduce the estimation error significantly, especiallyfor long range or fast moving targets.