Directed subspace search ML-PDA with application to active sonar tracking

The maximum likelihood probabilistic data association (ML-PDA) tracking algorithm is effective in tracking Very Low Observable targets (i.e., very low signal-to-noise ratio (SNR) targets in a high false alarm environment). However, the computational complexity associated with obtaining the track estimate in many cases has precluded its use in real-time scenarios. Previous ML-PDA implementations used a multi-pass grid (MPG) search to find the track estimate. Two alternate methods for finding the track estimate are presented-a genetic search and a newly developed directed subspace (DSS) search algorithm. Each algorithm is tested using active sonar scenarios in which an autonomous underwater vehicle searches for and tracks a target. Within each scenario, the problem parameters are varied to illustrate the relative performance of each search technique. Both the DSS search and the genetic algorithm are shown to be an order of magnitude more computationally efficient than the MPG search, making possible real-time implementation. In addition, the DSS search is shown to be the most effective technique at tracking a target at the lowest SNR levels-reliable tracking down to 5 dB (postprocessing SNR in a resolution cell) using a 5-frame sliding window is demonstrated, this being 6 dB better than the MPG search.