Abstract
Tracking of an underwater target in ocean environment is very important in both military and civilian applications. This paper focuses on the localization and tracking of a moving target by a passive multi-static sonar system using TOA, Time Difference and Frequency Difference of Arrival measurements. An algorithm is developed for an acoustic sensor distributed network of five sensors and an acoustic moving source. TDOAFDOA method is used to track a moving source usingTime Difference of Arrival (TDOA) and Frequency Difference of Arrival (FDOA) measurements, as a closed form solution. The highly nonlinear measurement equations of TDOA and FDOA are first converted into pseudo linear equations. This is achieved by introducing extra parameters. These equations are solved using a weighted least squares (WLS) method. Five distributed stationary receivers are used to track a moving acoustic target. The moving target parameters estimated from the above WLS method are improved by an Unscented Kalman Filter. The mean square errors of these estimates are compared and the results are analyzed.
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