3D Underwater Uncooperative Target Tracking for a Time-Varying Non-Gaussian Environment by Distributed Passive Underwater Buoys
Accurate 3D passive tracking of an underwater uncooperative target is of great significance to make use of the sea resources as well as to ensure the safety of our maritime areas. In this paper, a 3D passive underwater uncooperative target tracking problem for a time-varying non-Gaussian environment...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-07-01
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| Series: | Entropy |
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| Online Access: | https://www.mdpi.com/1099-4300/23/7/902 |
| _version_ | 1827687575435870208 |
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| author | Xianghao Hou Jianbo Zhou Yixin Yang Long Yang Gang Qiao |
| author_facet | Xianghao Hou Jianbo Zhou Yixin Yang Long Yang Gang Qiao |
| author_sort | Xianghao Hou |
| collection | DOAJ |
| description | Accurate 3D passive tracking of an underwater uncooperative target is of great significance to make use of the sea resources as well as to ensure the safety of our maritime areas. In this paper, a 3D passive underwater uncooperative target tracking problem for a time-varying non-Gaussian environment is studied. Aiming to overcome the low observability drawback inherent in the passive target tracking problem, a distributed passive underwater buoys observing system is considered and the optimal topology of the distributed measurement system is designed based on the nonlinear system observability analysis theory and the Cramer–Rao lower bound (CRLB) analysis method. Then, considering the unknown underwater environment will lead to time-varying non-Gaussian disturbances for both the target’s dynamics and the measurements, the robust optimal nonlinear estimator, namely the adaptive particle filter (APF), is proposed. Based on the Bayesian posterior probability and Monte Carlo techniques, the proposed algorithm utilizes the real-time optimal estimation technique to calculate the complex noise online and tackle the underwater uncooperative target tracking problem. Finally, the proposed algorithm is tested by simulated data and comprehensive comparisons along with detailed discussions that are made to demonstrate the effectiveness of the proposed APF. |
| first_indexed | 2024-03-10T09:40:07Z |
| format | Article |
| id | doaj.art-533ecabb1ee94a07bee306ddf70ae2ba |
| institution | Directory Open Access Journal |
| issn | 1099-4300 |
| language | English |
| last_indexed | 2024-03-10T09:40:07Z |
| publishDate | 2021-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Entropy |
| spelling | doaj.art-533ecabb1ee94a07bee306ddf70ae2ba2023-11-22T03:45:34ZengMDPI AGEntropy1099-43002021-07-0123790210.3390/e230709023D Underwater Uncooperative Target Tracking for a Time-Varying Non-Gaussian Environment by Distributed Passive Underwater BuoysXianghao Hou0Jianbo Zhou1Yixin Yang2Long Yang3Gang Qiao4School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaCollege of Underwater Acoustic Engineering, Harbin Engineering University, Harbin 150001, ChinaAccurate 3D passive tracking of an underwater uncooperative target is of great significance to make use of the sea resources as well as to ensure the safety of our maritime areas. In this paper, a 3D passive underwater uncooperative target tracking problem for a time-varying non-Gaussian environment is studied. Aiming to overcome the low observability drawback inherent in the passive target tracking problem, a distributed passive underwater buoys observing system is considered and the optimal topology of the distributed measurement system is designed based on the nonlinear system observability analysis theory and the Cramer–Rao lower bound (CRLB) analysis method. Then, considering the unknown underwater environment will lead to time-varying non-Gaussian disturbances for both the target’s dynamics and the measurements, the robust optimal nonlinear estimator, namely the adaptive particle filter (APF), is proposed. Based on the Bayesian posterior probability and Monte Carlo techniques, the proposed algorithm utilizes the real-time optimal estimation technique to calculate the complex noise online and tackle the underwater uncooperative target tracking problem. Finally, the proposed algorithm is tested by simulated data and comprehensive comparisons along with detailed discussions that are made to demonstrate the effectiveness of the proposed APF.https://www.mdpi.com/1099-4300/23/7/902underwater target trackingadaptive trackingparticle filterpassive tracking |
| spellingShingle | Xianghao Hou Jianbo Zhou Yixin Yang Long Yang Gang Qiao 3D Underwater Uncooperative Target Tracking for a Time-Varying Non-Gaussian Environment by Distributed Passive Underwater Buoys Entropy underwater target tracking adaptive tracking particle filter passive tracking |
| title | 3D Underwater Uncooperative Target Tracking for a Time-Varying Non-Gaussian Environment by Distributed Passive Underwater Buoys |
| title_full | 3D Underwater Uncooperative Target Tracking for a Time-Varying Non-Gaussian Environment by Distributed Passive Underwater Buoys |
| title_fullStr | 3D Underwater Uncooperative Target Tracking for a Time-Varying Non-Gaussian Environment by Distributed Passive Underwater Buoys |
| title_full_unstemmed | 3D Underwater Uncooperative Target Tracking for a Time-Varying Non-Gaussian Environment by Distributed Passive Underwater Buoys |
| title_short | 3D Underwater Uncooperative Target Tracking for a Time-Varying Non-Gaussian Environment by Distributed Passive Underwater Buoys |
| title_sort | 3d underwater uncooperative target tracking for a time varying non gaussian environment by distributed passive underwater buoys |
| topic | underwater target tracking adaptive tracking particle filter passive tracking |
| url | https://www.mdpi.com/1099-4300/23/7/902 |
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