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Performance Comparison of Target Tracking Filters in Underwater Multipath Environments

Using time-of-arrivals or time-difference-of-arrivals for the localization and tracking of underwater vehicles is a common approach. Although these two approaches are claimed to have similar performances, the analytical derivations oversee the biases in the delays. Another problem in the underwater tracking is to choose from multiple arrivals which occur due to underwater multipath effects. In this study, ray tracing is used for simulating the complex underwater environment. Nearest neighborhood and probabilistic data association filters are compared for timeofarrival and time-difference-of-arrival measurement models.