Application of Modified Gain Extended Kalman Filter for Underwater Passive Target Tracking Using Angles Only Measurements

Underwater, Passive Target tracking,for a moving observer, observation will be a critical task. Modified Gain Extended Kalman Filter (MGEKF) developed by Song and Speyer [3] was proven to be suitable algorithm for angles only passive target tracking applications in air. In this paper, this improved MGEKF algorithm is explored for underwater applications with some modifications. In underwater, the noise in the measurements is very high, turning rate of the platforms is low and speed of the platforms is also low when compared with the missiles in air. These characteristics of the platform are studied in detail and the algorithm is modified suitably for tracking applications in underwater. Monte-Carlo simulated results for one typical scenario is presented for the purpose of explanation. From the results it is observed that this algorithm is suitable for moving observer in underwater passive target tracking using angles only measurements.