Application of Particle Filter for Passive Underwater Bearing only Tracking

In underwater warfare and surveillance, tracking an object as accurately as possible is an important task. For this purpose, researchers are more inclined towards the passive mode of operation of Sonar. In this paper, the estimation of the object path with the help of Bearing-only tracking (BOT) is presented. The target parameters such as its course, speed and position are estimated with the help of BOT and this process is known as Target Motion Analysis (TMA). The Bearing angle is a non-linear measurement, and it requires an efficient algorithm to perform the estimation accurately. In this paper, the comparison of the Unscented Kalman filter (UKF) combined with Particle Filter (PF) and the UKF alone is performed. A simulator is generated to test these algorithms and to estimate the target path with the help of Matlab. The performance analysis of these two methods to estimate the target path is presented.