The Research of Underwater Target Tracking Adaptive Algorithm Based on Bearings and Time-Delay

The adaptive algorithm of underwater target tracking has been presented in this thesis. Based on the range information induced by time-delay, equations of state and measurement have been established. According to the thought of attenuating memory, Sage-Husa statistics estimator is introduced to the algorithm. Then, the target tracking is discussed with adaptive Extended Kalman Filter. It is showed in the Monte-Carlo simulation results that the algorithm has better performance. The system is practical and effective.