Underwater Bearing Only Tracking Using Optimal Observer Maneuver Strategies
Abstract
:1. Introduction
2. Problem Formulation
3. Non-Linear Estimation and Optimization Strategy for Observer in BOT
4. Modified State Estimator with Observer Optimization Strategy
5. Simulation Results
6. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Parameters | Settings |
---|---|
Initial Range (m) | 4000 |
Target Speed (knots) | 8 |
Observer Speed (knots) | 5 |
Observer Initial Position | (0, 0) |
Process Noise Variance (rad) | |
Measurement Noise Variance (rad) | |
Initial Estimated Range ) | 3400 |
Initial Bearing Angle (deg) | 30 |
Observer Courses in 10 degree increments | |
Initial Mean Target State Vector | |
Initial Target State Covariance | 4 × 4 Identity Matrix |
Observer Initial Position | Optimal Observer Maneuver with Method (Estimation Errors) | Optimal Observer Maneuver with Method (Estimation Errors) | ||||||
---|---|---|---|---|---|---|---|---|
X-Pos | Y-Pos | Vx-Vel | Vy-Vel | X-Pos | Y-Pos | Vx-Vel | Vy-Vel | |
(0, 0) | 558.89 | 414.36 | 0.2602 | 0.1599 | 668.65 | 589.44 | 0.2716 | 0.539 |
(1000, 0) | 88.215 | 68.65 | 0.3977 | 0.2994 | 90.37 | 78.45 | 0.389 | 0.184 |
(1000, −1000) | 266.07 | 226.38 | 1.266 | 1.1184 | 288.01 | 229.66 | 1.344 | 1.045 |
(−1000, 500) | 332.89 | 232.63 | 0.3143 | 0.2012 | 369.67 | 269.57 | 0.389 | 0.277 |
(0, −3000) | 285.26 | 212.98 | 0.1948 | 0.1119 | 309.46 | 223.33 | 0.216 | 0.158 |
Observer Initial Position | Optimal Observer Maneuver with Method (Estimation Errors) | Optimal Observer Maneuver with Method (Estimation Errors) | ||||||
---|---|---|---|---|---|---|---|---|
X-Pos | Y-Pos | Vx-Vel | Vy-Vel | X-Pos | Y-Pos | Vx-Vel | Vy-Vel | |
(0, 0) | 606.78 | 415.49 | 0.209 | 0.229 | 778.09 | 448.8 | 0.286 | 0.345 |
(1000, 1000) | 534.87 | 435.51 | 0.184 | 0.083 | 606.45 | 489.9 | 0.212 | 0.154 |
(−1000, 1000) | 817.28 | 665.01 | 0.575 | 0.618 | 908.01 | 710.2 | 0.661 | 0.672 |
(−3000, 2000) | 346.37 | 235.74 | 0.6001 | 0.371 | 412.56 | 257.9 | 0.742 | 0.421 |
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Nusrat, A.; Li, Y.; Cheng, C.; Qazi, H.; Xu, L. Underwater Bearing Only Tracking Using Optimal Observer Maneuver Strategies. J. Mar. Sci. Eng. 2022, 10, 576. https://doi.org/10.3390/jmse10050576
Nusrat A, Li Y, Cheng C, Qazi H, Xu L. Underwater Bearing Only Tracking Using Optimal Observer Maneuver Strategies. Journal of Marine Science and Engineering. 2022; 10(5):576. https://doi.org/10.3390/jmse10050576
Chicago/Turabian StyleNusrat, Asra, Yaan Li, Chunyan Cheng, Hafeezullah Qazi, and Lingji Xu. 2022. "Underwater Bearing Only Tracking Using Optimal Observer Maneuver Strategies" Journal of Marine Science and Engineering 10, no. 5: 576. https://doi.org/10.3390/jmse10050576