Three-dimensional tracking of a transmitter under conic angle-frequency measurements of linear array sonars

Abstract

This study considers tracking an underwater transmitter using a linear array sonar. The linear array sonar measures both the transmitter’s frequency and the conic angle with respect to the array’s direction. By analyzing the transmitter’s conic angle and frequency, the array sonar sensor estimates the transmitter’s three-dimensional position and (constant) velocity. This tracking problem is termed the conic angle-frequency tracking (CAFT) problem in our paper. We first consider tracking a transmitter which moves with a constant velocity. Then, we extend the tracking filter, so that one can track a transmitter which changes its heading occasionally. For tracking a transmitter which changes its heading in three-dimensional space, we propose a filter restart scheme. As the transmitter’s heading change is observed, one restarts all filter tracks so that the transmitter can be tracked continuously after its abrupt heading change. To the best of our knowledge, this study is unique in solving the three-dimensional CAFT problem for a constant velocity transmitter or a transmitter which changes its heading occasionally. The effectiveness of the proposed three-dimensional CAFT filter is demonstrated utilizing computer simulations.