Research on the initial value of filtering for passive tracking of moving target based on two sonar sensors´ bearing

The passive tracking of moving target in water based on bearings of two sonar sensors is a nonlinear state estimation issue. The filtering algorithm used in the state estimation is sensitive to the initial value of filtering, which is usually set by people, while in this paper it is acquired based on the positions of two sensors, observed values of bearings and errors of observed values, so that this is more consistent with the facts. The results of simulation based on the initial value of filtering given in this paper show that this method is simple and the precision of tracking is superior.