Coordinated Passive Maneuvering Target Tracking by Multiple Underwater Vehicles Based on Asynchronous Sequential Filtering

Xuechao Cheng; Yuanbo Guo; Jian Gao; Yimin Chen; Guang Pan

doi:10.1007/978-981-99-6498-7_22

Coordinated Passive Maneuvering Target Tracking by Multiple Underwater Vehicles Based on Asynchronous Sequential Filtering

Xuechao Cheng
, Yuanbo Guo
, Jian Gao
, Yimin Chen
, Guang Pan

School of Marine Science and Technology

Northwestern Polytechnical University Xian

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

As a hot topic in the development of marine science, underwater target tracking technology has been playing an important role since its birth. Passive sonar, one of the widely used sensor devices in tracking, collecting data without emitting energy signals, has good concealment. As a sensor carrier with superior performance, autonomous underwater vehicle (AUV) can be used to build an underwater multi-platform collaborative tracking system, to obtain composite observation data and improve tracking performance. In this paper, the problem of cooperative passive tracking of underwater maneuvering targets by multi-AUVs is studied. Aiming at the divergence problem of tracking maneuvering targets by a single AUV, a collaborative tracking system which has multi-AUVs, is formed. In view of the unavoidable asynchronous sampling problem among multi-AUVs, the asynchronous sequential filtering method is derived. In order to solve the prediction model distortion problem, the strong tracking theory is introduced. Therefore, combined with the Unscented-Kalman-Filter, an Asynchronous-Sequential-Strong-Tracking-Filter-Unscented-Kalman-Tracking algorithm (AS-STF-UKT) is proposed. In simulation scenario, it successfully solved the previous problems.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings
Editors	Huayong Yang, Jun Zou, Geng Yang, Xiaoping Ouyang, Honghai Liu, Zhouping Yin, Lianqing Liu, Zhiyong Wang
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	246-255
Number of pages	10
ISBN (Print)	9789819964970
DOIs	https://doi.org/10.1007/978-981-99-6498-7_22
State	Published - 2023
Event	16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 - Hangzhou, China Duration: 5 Jul 2023 → 7 Jul 2023

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	14273 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	16th International Conference on Intelligent Robotics and Applications, ICIRA 2023
Country/Territory	China
City	Hangzhou
Period	5/07/23 → 7/07/23

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 14 Life Below Water

Keywords

Asynchronous Sampling
Strong Tracking Sequential Filter
Underwater Multi-AUV Collaboration
Unscented Kalman Algorithm

Access to Document

10.1007/978-981-99-6498-7_22

Cite this

Cheng, X., Guo, Y., Gao, J., Chen, Y., & Pan, G. (2023). Coordinated Passive Maneuvering Target Tracking by Multiple Underwater Vehicles Based on Asynchronous Sequential Filtering. In H. Yang, J. Zou, G. Yang, X. Ouyang, H. Liu, Z. Yin, L. Liu, & Z. Wang (Eds.), Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings (pp. 246-255). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 14273 LNAI). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-99-6498-7_22

Cheng, Xuechao ; Guo, Yuanbo ; Gao, Jian et al. / Coordinated Passive Maneuvering Target Tracking by Multiple Underwater Vehicles Based on Asynchronous Sequential Filtering. Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. editor / Huayong Yang ; Jun Zou ; Geng Yang ; Xiaoping Ouyang ; Honghai Liu ; Zhouping Yin ; Lianqing Liu ; Zhiyong Wang. Springer Science and Business Media Deutschland GmbH, 2023. pp. 246-255 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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title = "Coordinated Passive Maneuvering Target Tracking by Multiple Underwater Vehicles Based on Asynchronous Sequential Filtering",

abstract = "As a hot topic in the development of marine science, underwater target tracking technology has been playing an important role since its birth. Passive sonar, one of the widely used sensor devices in tracking, collecting data without emitting energy signals, has good concealment. As a sensor carrier with superior performance, autonomous underwater vehicle (AUV) can be used to build an underwater multi-platform collaborative tracking system, to obtain composite observation data and improve tracking performance. In this paper, the problem of cooperative passive tracking of underwater maneuvering targets by multi-AUVs is studied. Aiming at the divergence problem of tracking maneuvering targets by a single AUV, a collaborative tracking system which has multi-AUVs, is formed. In view of the unavoidable asynchronous sampling problem among multi-AUVs, the asynchronous sequential filtering method is derived. In order to solve the prediction model distortion problem, the strong tracking theory is introduced. Therefore, combined with the Unscented-Kalman-Filter, an Asynchronous-Sequential-Strong-Tracking-Filter-Unscented-Kalman-Tracking algorithm (AS-STF-UKT) is proposed. In simulation scenario, it successfully solved the previous problems.",

keywords = "Asynchronous Sampling, Strong Tracking Sequential Filter, Underwater Multi-AUV Collaboration, Unscented Kalman Algorithm",

author = "Xuechao Cheng and Yuanbo Guo and Jian Gao and Yimin Chen and Guang Pan",

note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.; 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023 ; Conference date: 05-07-2023 Through 07-07-2023",

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editor = "Huayong Yang and Jun Zou and Geng Yang and Xiaoping Ouyang and Honghai Liu and Zhouping Yin and Lianqing Liu and Zhiyong Wang",

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Cheng, X, Guo, Y, Gao, J, Chen, Y & Pan, G 2023, Coordinated Passive Maneuvering Target Tracking by Multiple Underwater Vehicles Based on Asynchronous Sequential Filtering. in H Yang, J Zou, G Yang, X Ouyang, H Liu, Z Yin, L Liu & Z Wang (eds), Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 14273 LNAI, Springer Science and Business Media Deutschland GmbH, pp. 246-255, 16th International Conference on Intelligent Robotics and Applications, ICIRA 2023, Hangzhou, China, 5/07/23. https://doi.org/10.1007/978-981-99-6498-7_22

Coordinated Passive Maneuvering Target Tracking by Multiple Underwater Vehicles Based on Asynchronous Sequential Filtering. / Cheng, Xuechao; Guo, Yuanbo; Gao, Jian et al.
Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. ed. / Huayong Yang; Jun Zou; Geng Yang; Xiaoping Ouyang; Honghai Liu; Zhouping Yin; Lianqing Liu; Zhiyong Wang. Springer Science and Business Media Deutschland GmbH, 2023. p. 246-255 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 14273 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Cheng, Xuechao

AU - Guo, Yuanbo

AU - Gao, Jian

AU - Chen, Yimin

AU - Pan, Guang

N1 - Publisher Copyright: © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2023.

PY - 2023

Y1 - 2023

N2 - As a hot topic in the development of marine science, underwater target tracking technology has been playing an important role since its birth. Passive sonar, one of the widely used sensor devices in tracking, collecting data without emitting energy signals, has good concealment. As a sensor carrier with superior performance, autonomous underwater vehicle (AUV) can be used to build an underwater multi-platform collaborative tracking system, to obtain composite observation data and improve tracking performance. In this paper, the problem of cooperative passive tracking of underwater maneuvering targets by multi-AUVs is studied. Aiming at the divergence problem of tracking maneuvering targets by a single AUV, a collaborative tracking system which has multi-AUVs, is formed. In view of the unavoidable asynchronous sampling problem among multi-AUVs, the asynchronous sequential filtering method is derived. In order to solve the prediction model distortion problem, the strong tracking theory is introduced. Therefore, combined with the Unscented-Kalman-Filter, an Asynchronous-Sequential-Strong-Tracking-Filter-Unscented-Kalman-Tracking algorithm (AS-STF-UKT) is proposed. In simulation scenario, it successfully solved the previous problems.

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KW - Asynchronous Sampling

KW - Strong Tracking Sequential Filter

KW - Underwater Multi-AUV Collaboration

KW - Unscented Kalman Algorithm

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BT - Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings

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Cheng X, Guo Y, Gao J, Chen Y , Pan G. Coordinated Passive Maneuvering Target Tracking by Multiple Underwater Vehicles Based on Asynchronous Sequential Filtering. In Yang H, Zou J, Yang G, Ouyang X, Liu H, Yin Z, Liu L, Wang Z, editors, Intelligent Robotics and Applications - 16th International Conference, ICIRA 2023, Proceedings. Springer Science and Business Media Deutschland GmbH. 2023. p. 246-255. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-981-99-6498-7_22