Research on the Observability of Bearings-only Target Tracking Based on Multiple Sonar Sensors

Analysis on obsevability of tracking system is the premise and basis of target tracking, only if the observable condition is fulfilled, could the system has correct solution, and then the effective tracking of target could be realized. Focus on the observability problem of bearing-only tracking for the moving target based on multiple (three or more) passive sonar sensors, after the pseudolinear processing is applied on the observable equation as well as the judging theorem of observability for linear system is applied to the tracking system, the observable condition of judging for this system could be obtained, the validity of the conclusion is validated by simulations.