Resolving Left-Right Ambiguity During Bearing Only Tracking of an Underwater Target Using Towed Array

TL;DR

This paper introduces a likelihood-based method to resolve left-right ambiguity in bearing-only underwater target tracking with towed arrays, improving tracking accuracy during various target maneuvers.

Contribution

The paper presents a novel likelihood measurement approach combined with estimators to effectively resolve left-right ambiguity in bearing-only tracking.

Findings

Successfully resolves left-right ambiguity during straight and maneuvering target movements.

Achieves improved tracking accuracy with reduced root mean square error.

Demonstrates robustness across different target maneuvers and compares performance metrics.

Abstract

In bearing only tracking using a towed array, the array can sense the bearing angle of the target but is unable to differentiate whether the target is on the left or the right side of the array. Thus, the traditional tracking algorithm generates tracks in both the sides of the array which create difficulties when interception is required. In this paper, we propose a method based on likelihood of measurement which along with the estimators can resolve left-right ambiguity and track the target. A case study has been presented where the target moves (a) in a straight line with a near constant velocity, (b) maneuvers with a turn, and observer takes a `U'-like maneuver. The method along with the various estimators has been applied which successfully resolves the ambiguity and tracks the target. Further, the tracking results are compared in terms of the root mean square error in position and velocity, bias norm, \% of track loss and the relative execution time.