Generalized pseudo Bayesian algorithms for tracking of multiple model underwater maneuvering target

Abstract

The strength of Generalized Pseudo Bayesian (GPB) algorithms is exploited in the presented study to enhance the target tracking precision, effective model approximation and rapid convergence of multimodel maneuvering object tracking. The GPB methods are considered to be suitable for approximating systems whose dynamics follow discrete-time and fixed state Markov process. Underwater maneuvering target tracking problems are usually solved with nonlinear Bayesian algorithms, in which kinetics of object are associated with passive bearings using state-space modeling. Here accuracy and convergence of GPB methods based on Interacting Multiple Model Extended Kalman Filter (IMMEKF), Interacting Multiple Model Extended Kalman Smoother (IMMEKS), Interacting Multiple Model Unscented Kalman Filter (IMMUKF) and Interacting Multiple Model Unscented Kalman Smoother (IMMUKS) are efficiently analyzed for tracking of multimodel maneuvering target in complex ocean environment. Application of these algorithms is systematically presented for estimating the real-time state of a maneuvering object that follows a coordinated turn trajectory. Performance analysis of IMM Kalman filters and smoothers is done with variations in the standard deviation of white Gaussian measurement noise by following Bearings Only Tracking (BOT) phenomena. Least Mean Square Error (MSE) between approximated and the real position of maneuvering target in rectangular coordinates is calculated for analyzing the performance of filtering and smoothing techniques. Simulation results of the Monte Carlo runs validate the effectiveness of IMMEKS and IMMUKS over IMMEKF and IMMUKF for scenario of given framework.