Research on an algorithm for passive tracking of nonmaneuvering target based on bearings of multiple fixed sonar sensors

Passive tracking of nonmaneuvering target (target travels on a straight line at a constant speed) in water based on bearings of multiple fixed sonar sensors is a nonlinear state estimation issue. In this paper, the preliminary estimation of target´ position is acquired by the least square method firstly, then the estimated position data are applied as measured values for Kalman filtering, avoiding some problems brought by applying nonlinear estimation algorithms for data fusion directly. The result of simulation shows that the algorithm mentioned in this paper is simple, the speed of convergence is fast, and the precision of tracking is superior.