Application of Extended Kalman filter and Modified Gain Extended Kalman Filter in Underwater Active Target Tracking

Abstract: For underwater measurements, the noise is very high, turning rate and speed of the platform is low when compared with the missiles in air. In the present paper, Adaptive filters, Extended Kalman filter (EKF) and Modified Gain Extended Kalman Filter (MGEKF), are applied to underwater active target tracking using angles only measurements. Monte-Carlo simulated results for several typical scenarios with Range, Speed and Coarse Errors in tracking using MATLAB software are presented. From the results it is concluded that this MGEKF algorithm is suitable for underwater active target tracking applications.

Keywords: EKF,MGEKF,turning rate.