Tracking a Ground Target Utilizing Doppler-Only Measurements of a Single Passive Sonar Sensor Assisted by Straight Road Constraints

This paper handles tracking a ground target using a single passive sonar sensor measuring doppler shift of the target. We consider a scenario where the frequency of the emitting tone is not known in advance. We further consider a ground target which is constrained to move along a known straight road with a known course. It is assumed that the single sonar sensor is located close to the road, whose shape is known in advance. This article introduces tracking the ground target assisted by road constraints. We address a non-recursive estimation algorithm using a batch filter initialized with samples that are distributed considering the road constraints. As far as we know, our paper is unique in using a single sonar sensor for target localization with doppler-only measurements with unknown emitting frequency. Moreover, our article is unique in target tracking based on doppler-only measurements of a single sonar sensor, assisted by road constraints. The effectiveness of the proposed tracking filter is verified under MATLAB simulations.