Bearing only Tracking of Maneovuring Targets Using a Single Coordinated Turn Model

Abstract

The passive tracking of manoeuvring objects using line of sight (LOS) angle measurements only is an important field of research in the application areas of submarine tracking, aircraft surveillance, autonomous robotics and mobile systems. In this paper, the tracking of target dynamics is treated as a system identification problem. We propose to use the coordinated turn (CT) model along with extended Kalman filter to track all possible dynamics such as velocity, acceleration and coordinated turn of manoeuvring targets. Simulations are used to demonstrate the effectiveness of this approach and the results obtained are promising.

A new method of target tracking by EKF using bearing and elevation measurements for underwater environment

“…The fundamental problem in bearing and elevation only tracking is to estimate the object/target trajectory from noisy corrupted sensor data [22]. In this scenario the observer tracks a moving target/object with sensor(sonar), which measures only the bearings and elevations of the target with respect to positions of the sensor.…”

Passive localization of stationary targets: In extremely noisy conditions and asymmetric paths

“…Stationary Target Localization may be carried out in a multitude of ways which can be categorized at a first level to multi-sensor and single-sensor cases [1]. While the multisensor method offers some advantages such as higher accuracy and possibly faster response, the use of a single moving observer to locating a stationary target can offer plentiful rewards such as the ability of the observer to carry out a mission independently due to its autonomy and the absence of the so-called synchronization problems between multiple observers.…”

A Tracking System for Wireless Embedded Nodes Using Time-of-Flight Ranging

“…These type of motion modeling has been used previously in scenarios involving bearings only tracking as well as in aircraft navigation [25], [26].…”