Underwater mobile target tracking with particle filter using an autonomous vehicle

摘要

This paper describes an underwater mobile target localization and tracking by using an autonomous surface vehicle for which the successive ranges between the target and the reference are the only information. In a dynamic system, such as range-only single-beacon underwater target tracking, a state-space model can be characterized, where the state vector may include position, and velocity of the mobile underwater target. Moreover, the range observations can come from a mobile autonomous vehicle, which is used as a moving landmark. Then, a nonlinear Bayesian filtering algorithm can be used to make extrapolations on the state vector from the observations, in order to obtain the target position at each instant of time. In this paper we consider the use of Particle Filter (PF) to perform such localization and tracking where its performance and characterization is studied under different scenarios.