ArticleSensors (Basel, Switzerland)2025
Linear Pseudo-Measurements Filtering for Tracking a Moving Underwater Target by Observations with Random Delays.
Article in Sensors (Basel, Switzerland), 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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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.
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