Performance analysis of modified gain extended Kalman filter in underwater passive target tracking for stationary and manoeuvring observer

In underwater, for Passive Target tracking observation will be a critical task. Observation task is different when observer is stationary and also when manoeuvring. In underwater, the noise in the measurements is very high, turning rate of the platforms is low and speed of the platforms is also low when compared with the missiles in air. In this paper performance of Modified gain extended Kalman filter (MGEKF) is applied for passive target tracking applications in underwater when observer is stationary and manoeuvring. Monte-Carlo simulated results for different typical scenarios are presented for the purpose of explanation. From the results it is observed that this algorithm is suitable, even observer is stationary or manoeuvring; in underwater passive target tracking using angles only measurements.