A comparative study of tracking algorithms in underwater environment using sonar simulation

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Tezin Türü: Yüksek Lisans

Tezin Yürütüldüğü Kurum: Orta Doğu Teknik Üniversitesi, Mühendislik Fakültesi, Elektrik ve Elektronik Mühendisliği Bölümü, Türkiye

Tezin Onay Tarihi: 2007

Öğrenci: EMRE EGE

Danışman: AFŞAR SARANLI

Özet:

Target tracking is one the most fundamental elements of a radar system. The aim of target tracking is the reliable estimation of a target's true state based on a time history of noisy sensor observations. In real life, the sensor data may include substantial noise. This noise can render the raw sensor data unsuitable to be used directly. Instead, we must filter the noise, preferably in an optimal manner. For land, air and surface marine vehicles, very successful filtering methods are developed. However, because of the significant differences in the underwater propagation environment and the associated differences in the corresponding sensors, the successful use of similar principles and techniques in an underwater scenario is still an active topic of research. A comparative study of the effects of the underwater environment on a number of tracking algorithms is the focus of the present thesis. The tracking algorithms inspected are: the Kalman Filter, the Extended Kalman Filter and the Particle Filter. We also investigate in particular the IMM extension to KF and EKF filters. These algorithms are tested under several underwater environment scenarios.