Work

Linear Pseudo-Measurements Filtering for Tracking a Moving Underwater Target by Observations with Random Delays

Year: 2025

Type: article

Abstract: The linear pseudo-measurements filter is adapted for use in a stochastic observation system with random time delays between the arrival of observations and the actual state of a moving object. The observation model is characterized by limited prior knowledge of the measurement errors distribution, specified only by its first two moments. Furthermore, the proposed model allows for a multiplicative dependence of errors on the state of the moving object. The filter incorporates direction angles and range measurements generated by several independent measurement complexes. As a practical application, the method is used for tracking an autonomous underwater vehicle moving toward a stationary target. The vehicle's velocity is influenced by continuous random disturbances and periodic abrupt changes. Observations are performed by two stationary acoustic beacons.

Source: Sensors

DOI: 10.3390/s25123757

Author: Alexey Bosov

Institution: Federal Research Center “Computer Science and Control” of the Russian Academy of Sciences

Language: English

Topic: Target Tracking and Data Fusion in Sensor Networks

Subfield: Artificial Intelligence

Field: Computer Science

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $3,137

Funder: Ministry of Science and Higher Education of the Russian Federation