ArticleEntropy (Basel, Switzerland)2021
Adaptive Two-Step Bearing-Only Underwater Uncooperative Target Tracking with Uncertain Underwater Disturbances.
Article in Entropy (Basel, Switzerland), 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
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Who cites it
4 citing papers in PubMed.
- Robust Pose and Inertial Parameter Estimation of an Unknown Aircraft Based on Variational Bayesian Dual Vector Quaternion Extended Kalman Filter.Entropy (Basel, Switzerland) · 2026Article
- Robust Smoothing Cardinalized Probability Hypothesis Density Filter-Based Underwater Multi-Target Direction-of-Arrival Tracking with Uncertain Measurement Noise.Entropy (Basel, Switzerland) · 2025Article
- Radar Target Tracking for Unmanned Surface Vehicle Based on Square Root Sage-Husa Adaptive Robust Kalman Filter.Sensors (Basel, Switzerland) · 2022Article
- Intelligence-Aware Batch Processing for TMA with Bearings-Only Measurements.Sensors (Basel, Switzerland) · 2021Article
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Authors and funding
5 authors.
Funding
Abstract
The bearing-only tracking of an underwater uncooperative target can protect maritime territories and allows for the utilization of sea resources. Considering the influences of an unknown underwater environment, this work aimed to estimate 2-D locations and velocities of an underwater target with uncertain underwater disturbances. In this paper, an adaptive two-step bearing-only underwater uncooperative target tracking filter (ATSF) for uncertain underwater disturbances is proposed. Considering the nonlinearities of the target's kinematics and the bearing-only measurements, in addition to the uncertain noise caused by an unknown underwater environment, the proposed ATSF consists of two major components, namely, an online noise estimator and a robust extended two-step filter. First, using a modified Sage-Husa online noise estimator, the uncertain process and measurement noise are estimated at each tracking step. Then, by adopting an extended state and by using a robust negative matrix-correcting method in conjunction with a regularized Newton-Gauss iteration scheme, the current state of the underwater uncooperative target is estimated. Finally, the proposed ATSF was tested via simulations of a 2-D underwater uncooperative target tracking scenario. The Monte Carlo simulation results demonstrated the reliability and accuracy of the proposed ATSF in bearing-only underwater uncooperative tracking missions.
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