Passive Localization and Trajectory Estimation in the Underwater Acoustic Environment: The Need for Hierarchical Estimation Systems.

摘要

The fundamental factors affecting passive localization and trajectory analysis in the undersea environment are identified. Trajectory estimation and observability from angle-of-arrival data, gathered from a single moving observation platform, are detailed. The impact of anomalies present in underwater acoustic measurements is described and a hierarchical approach to robust nonlinear estimation is presented. Keywords: Underwater targets; Acoustic images; Position location; Passive systems; Underwater trajectories. Reprints. (edc)