Passive Underwater Target Tracking: Conditionally Minimax Nonlinear Filtering with Bearing-Doppler Observations

Multi-target Tracking via Nonlinear Least Squares Using Doppler Measurements from a Passive Radar System

Doppler and bearing tracking using fuzzy adaptive unscented Kalman filter

The topic of Doppler and Bearing Tracking (DBT) problem is to achieve a target trajectory using the Doppler and Bearing measurements. The difficulty of DBT problem comes from the nonlinearity terms exposed in the measurement equations. Several techniques were studied to deal with this topic, such as the unscented Kalman filter. Nevertheless, the performance of the filter depends directly on the...

Nonlinear Robust Tracking Control of an Underwater Vehicle-Manipulator System

This paper develops an improved robust multi-surface sliding mode controller for a complicated five degrees of freedom Underwater Vehicle-Manipulator System with floating base. The proposed method combines the robust controller with some corrective terms to decrease the tracking error in transient and steady state. This approach improves the performance of the nonlinear dynamic control scheme a...

Decentralized and Cooperative Multi-Sensor Multi-Target Tracking With Asynchronous Bearing Measurements

Bearings only tracking is a challenging issue with many applications in military and commercial areas. In distributed multi-sensor multi-target bearings only tracking, sensors are far from each other, but are exchanging data using telecommunication equipment. In addition to the general benefits of distributed systems, this tracking system has another important advantage: if the sensors are suff...

Nonlinear filtering in target tracking using cooperative mobile sensors

Collaborative signal processing and sensor deployment have been among the most important research tasks in target tracking using networked sensors. In this paper, the mathematical model is formulated for single target tracking using mobile nonlinear scalar range sensors. Then a sensor deployment strategy is proposed for the mobile sensors and a nonlinear convergent filter is built to estimate t...