Underwater Object Tracking using Unscented Kalman Filter

Tracking an object is the major consideration in underwater warfare environment. To perform this task, researchers are more inclined towards the passive bearing-only tracking (BOT) method. In this paper, the estimation of object path provided noisy measurements is implemented with the help of Unscented Kalman Filter (UKF). It is assumed that the observer is executing the ‘S’ maneuver so that it can track the target, which is considered to be travelling in a straight path. The UKF is implemented to various scenarios in the MATLAB 2018a environment. Monte Carlo simulation is used to test the algorithm's efficiency.