On filtering and tracking in the presence of large errors for passive contact localization and motion analysis

A perspective on passive contact localization and motion analysis in the ocean environment has been presented in [Hassab, IEEE J. Ocean Eng. Vol. OE-8, pp 136-147, 1983]. There, the analysis and results have addressed an estimation process conducted under the classical assumptions of small, local error conditions. Otherwise the estimates deteriorate, where large bias on the estimates would result and where increase in variance would develop. In its totality, the estimation process has to deal with nonlinear and non-stationary problems that have not been amenable to optimum linear system theory without imposing restrictive assumptions that constrain the problem to idealized conditions. This paper reconsiders the issues involved and presents a linear estimation structure that deals effectively with larger error conditions in localization and tracking within the underwater environment.