EE-608 Course project Adaptive Kalman Structure for Passive Undersea Tracking Pannir Selvam E ( ) Vikram Mehta Praveen Goyal ( ) Guided By Prof. U.B. Desai
AIM Estimate submarine range Use passive sonar Adaptive Kalman filter
Submarine – Ship geometry
B L R Submarine 123 L
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
Dynamic model & measurement equation used
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 Misha Schwartz 3.Adaptive Filter Theory by Simon Haykin