Passive Target Motion Analysis in 3D Using Multipath Time Delay Measurements

In this paper, an underwater target motion analysis (TMA) is done using noise corrupted bearing angle, elevation angle and multi-path time delay measurements, without manoeuvring the ownship. Here, TMA is performed by fusing the measurements with the process model using Gaussian filters. The performances of the filters are compared in terms of root mean squared errors (RMSEs) of position and velocity, computational time and track loss count. In addition, a comparison is made between classical angle only tracking (AOT) (with ownship manoeuvre) with that of TMA with bearing, elevation angles and multipath time delay measurements. It is found that multipath time delay measurement makes the filters to estimate the target position more accurately (compared to AOT) without any ownship maneuver.