Interference Striation Based Particle Filter Tracking for Target Depth in the Reliable Acoustic Path

Effective real-time estimation of target depth trajectory is an important issue in target detection. This paper proposes a target depth tracking method based on particle filter in the reliable acoustic path. The proposed method utilizes the Lloyd mirror interference to model the measurement equation as a function of the acoustic power spectrum varying with the target depth. The notable feature of the method is the use of analytical expressions of measurement equations to improve efficiency. The method is successfully verified by experimental data, and the result proves the effectiveness of the method in target depth tracking.