Tracking Underwater Target Using Angles-only Measurements

This Surveillance plays a critical role in the marine environment. Target is tracked even if measurements of the range are not available, using bearing and elevation measurements. This research intends to track the target and estimate the parameters of target motion and to reduce noise in the estimated parameters using an effective nonlinear filter, Unscented Angles-only Kalman Filter (UAKF). Mathematical modeling is presented in this research, and simulation is done using MATLAB software. The performance of the UAKF algorithm is shown to be efficient in tracking the target and observer maneuver is recommended to get convergence very quickly in underwater surroundings.