1. EE-608 Course project Adaptive Kalman Structure for Passive Undersea Tracking Pannir Selvam E (05407703) Vikram Mehta Praveen Goyal (05307810) Guided By Prof. U.B. Desai

2. AIM  Estimate submarine range  Use passive sonar  Adaptive Kalman filter

3. Submarine – Ship geometry

4. B L R Submarine 123 L

5. Block diagram of Two Stage Kalman Structure Time Delays Correlation Bearing Function Bearing Filter Non Linear Range Function Time Delay Filter (  2 ) Time Delay Filter (  1 ) Range Filter Time Delay Process Variance Adaptive Feedback Loop Second Stage Moving Source

6. Dynamic model & measurement equation used

7. References 1.“An Adaptive Two Stage Kalman Structure for Passive Undersea Tracking” by Mark R Allen and Louis A King, IEEE Transactions on Acoustics, Speech and Signal Processing, Vol. 16, No. 1, Jan 1988 2.Misha Schwartz 3.Adaptive Filter Theory by Simon Haykin