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Passive Target Tracking in Underwater Environment using Bearing and Frequency Measurements

Marine resources may now be explored because of advancements in acoustic technology and instruments that were previously unavailable. Underwater acoustic target tracking has gotten a lot of attention nowadays, both in the military and in the civilian world, because it is such an important component of ocean exploration. Due to the complex nature of the marine environment, several tracking approaches have been proposed to improve tracking performance in the maritime environment. The Doppler Bearing tracking (DoBT) of an undersea target can be used to safeguard maritime territory while also allowing for the efficient use of available marine resources. When taking into account the impacts of an unknown underwater environment, the goal of this study was to estimate the 2-D positions and velocities of an unknown underwater target (i.e., Target Motion Parameters (TMP)) with undetermined underwater disturbances. In this research paper, the UKF algorithm is compared against CRLB to demonstrate its accuracy.