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

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.