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I. INTRODUCTION
Tracking underwater objects is an ongoing challenge for
safe navigation of AUV. Bearing only tracking (BOT) is used
in many marine applications such as sonar based robotic
navigation, infrared seeker based tracking and underwater
weapon systems. The bearing and elevation only filtering
problem in 3D from a single maneuvering sensor is the
counterpart of the bearing only filtering in 2D. The important
field of research in the areas of aircraft surveillance,
submarine tracking, mobile systems and autonomous robotics
applications is passive target tracking of maneuvering objects
using line of sight (LOS) angle measurements [1-5].
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coordinates
, and
and the velocity towards those
coordinate axes ,
and . Thus, the dynamics of the
target is modeled as a state space model. The state of the
target is defined in the tracker coordinate frame (T frame) for
which the x, y , and z axes are along the local North, East and
upward directions, respectively as shown in Fig.1. The target
and sensor/observer states in Cartesian coordinates are defined
as follows
(1)
And
(2)
, etc.
(5)
(6)
(7)
i.e.
( )
( )
( )
( )
( )
( )
( )
(8)
( )
( ) ( )
(9)
Where ( ) and
( ) are the state transition matrix and
integrated process noise, respectively, for the time interval
(
) ( ) and process noise is assumed to be zero
mean white gaussian noise.
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( )
( )
[
(10)
(11)
x(k 1) F ( k 1) x ( k )
(15)
P(k 1) F ( k 1) P ( k ) F(Tk 1) Q( k 1)
(16)
(17)
(
(
( )
(
(
)
]
)
(12)
)
)
)
(
(
)
10
K ( k 1)
P(k 1) H (Tk 1)
(18)
( H ( k 1) P(k 1) H (Tk 1) R)
P( k 1) ( I K ( k 1) g ( z( k 1) , x(k 1) ) P(k 1)
( I K ( k 1) g ( z( k 1) , x(k 1) )T K ( k 1) R K (Tk 1)
(13)
Where ( ) is uncorrelated, zero-mean white Gaussian noise
with variances
,
in the bearing ( ) and elevation
( ) measurements respectively .
The measured range, bearing, and elevation from sonar are
converted to target positions in Cartesian coordinates with
respect to own ship as origin using the following relations:
(19)
Where ,
x (k ) = State estimate at time k.
( )
( )
( )
( ) ( )
(14)
Where,
is the range vector of x, y and z positions.
Because the measurement model is non-linear we replace the
Kalman filter algorithm with EKF. The dynamic model using
NCVM in 3D is linear and the measurement model for bearing
and elevation is nonlinear for this problem. In general EKF is
based on linearized approximations to nonlinear dynamic
and/or measurement models [9], [23] and is widely used. For
this problem, the linearized approximation is performed in the
measurement update step as described in [9], [23].
With the designed system dynamic and measurement model
given in Eq.(8) and Eq.(12), the process of estimating state
vector x (k ) with the proposed BEOT algorithm is elucidated
(
(
)
) ]
g [(
(
)
)]
)
(20)
Where,
Estimated bearing from the states , and .
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11
)
(28)
) =
(29)
(21)
IV. UPDATED MEASUREMENT OF ELEVATION DATA
generates
(
) =
(30)
=
In the similar way
Then the estimated range be
with
By adding
+
+
-
)(
(
(
(22)
generates,
(31)
)(
) =
we can get,
) (
(32)
(23)
Similarly,
-
2 =(
) (
) (
(
)(
]+
( - )
(25)
] = -2
)
] =2
)
) and (
(34)
(
[
(
)
) ]
) are then,
(
[(
(
)
)]
)
(35)
(27)
(26)
=2
)
(
= -2
( - )
) (
) [
(33)
(24)
) [
)=
Since the true bearing and elevation angles are not available in
practice, the measured bearing and elevations are used to
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(
(
can be
)
) ]
(
[(
(
XZ plane
)
)]
)
P( ,z)
g=
XY plane
P( z)
(36)
12
P( )
]
(37)
in range (r),
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13
140
120
1.5
100
x 10
80
60
rz (metres)
40
1
20
0.5
100
200
0
8000
6000
300
400
500
Time(seconds)
600
700
800
900
1000
200
150
4000
100
2000
50
0
rx (metres)
0
ry (metres)
700
600
400
40
300
35
200
100
100
200
300
400
500
Time (seconds)
600
700
800
900
1000
500
30
25
20
15
10
5
0
100
200
300
400
0.25
500
Time(seconds)
600
700
800
900
1000
0.15
0.1
0.05
(38)
( )
0
100
200
300
400
500
Time (seconds)
600
700
800
900
1000
(39)
( )
(40)
( )
0.2
(41)
100
200
300
400
500
Time (seconds)
600
700
800
900
1000
(42)
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14
(43)
RSSPE
40
20
0
100
200
300
400
500
600
700
800
900
1000
100
200
300
400
500
600
700
800
900
1000
100
200
300
400
500
600
700
800
900
1000
100
200
300
400
500
time in sec.
600
700
800
900
1000
RMSPE
10
5
0
(44)
RMSVE
1
0.5
0
RSSVE
1
0
RSSPEx
where
and are the measurements, and are the
estimated target positions,
and are the measurements,
and are the estimated target velocities in
and
coordinates, respectively. Here RMSPE, RMSVE, RSSPE
and RSSVE are calculated at each time step as given in the
equations (41 & 44).
20
10
0
PFEx
0.4
0.2
100
200
300
400
500
600
700
800
900
1000
100
200
300
400
500
600
700
800
900
1000
PFEy
10
100
200
300
400
500
600
700
800
900
1000
100
200
300
400
500
600
700
800
900
1000
100
200
300
400
500
time in sec.
600
700
800
900
1000
RSSPEy
10
0
30
RSSPEz
20
10
0
PFEz
0.4
0.2
100
200
300
400
500
time in sec.
600
700
800
900
1000
MAEx
0.5
700
100
200
300
400
500
600
700
800
900
Proposed method
EKF method
600
1000
500
1
0.5
0
100
200
300
400
500
600
700
800
900
1000
MAEz
0.5
Range Error(meters)
MAEy
1.5
400
300
200
100
200
300
400
500
time in sec.
600
700
800
900
1000
100
100
200
300
400
500
Time (seconds)
600
700
800
900
1000
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0.25
Proposed method
EKF method
Bearing Error(deg)
0.2
0.15
0.1
0.05
100
200
300
400
500
Time (seconds)
600
700
800
15
900
1000
180
160
140
8
Rng Error (m)
120
7
Proposed method
EKF method
100
80
Speed Error(m/sec)
60
5
40
4
20
3
0
100
200
300
400
600
700
800
900
1000
500
TIME (seconds)
100
200
300
400
500
Time (seconds)
600
700
800
900
1000
0.9
0.8
0.7
140
Proposed method
EKF method
120
Course Error(deg)
100
0.6
0.5
0.4
0.3
0.2
80
0.1
60
0
100
200
300
400
40
500
Time (seconds)
600
700
800
900
1000
700
800
900
1000
20
100
200
300
400
500
Time (seconds)
600
700
800
900
1000
45
40
35
45
Proposed method
EKF method
40
Elevation Error(deg)
35
30
25
20
15
30
10
25
5
20
0
15
100
200
300
400
500
Time(seconds)
600
10
5
0
100
200
300
400
500
Time (seconds)
600
700
800
900
1000
VI. CONCLUSIONS
In this paper , simulations has been done in 3D estimation
algorithms based on the 2D estimation BOT problem. A new
Bearing and Elevation only Tracking algorithm was designed
using modified kalman
gain to evaluate the system
performance and has been developed for underwater object
detection/tracking. The experimental results also show with
1000 Monte Carlo simulations and the convergence issues
associated with the developed algorithm has been analyzed. It
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[14]
[15]
[16]
[17]
[18]
[19]
[20]
[1]
[2]
[3]
[4]
[5]
[6]
[7]
[8]
[9]
[10]
[11]
[12]
[13]
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ik, and T.K.Ghoshal, Evolving
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