Passive Doppler Bearing Tracking Using a Pseudo Linear Estimator.pdfVIP

I14 IEEE JOURNAL OF OCEANIC ENGINEERING,VOL. 20, NO. 2, APRIL 1995 Passive Doppler-Bearing Tracking Using a Pseudo-Linear Estimator P. Anders Rosenqvist Abstract-In this paper an explicit pseudo-linearestimator for I. NTRODUCTII ON Doppler-beering tracking is proposed. It overcomes the problems with the MPL~of earlier pseuddiaepr estimators OM1 with the NE reason for studying Doppler-bearing tracking is the nodinear frequency mrasurement equation by wing ae- 0possibility to estimate the range to the target without repcesenWon thantbe Gartesaipnone and by wing tbe logaridm accelerations of the observing own-ship. of the frequency, respectively. It is fat, inherently stable, and The true bearings, when no own-ship manoeuvers are per- easy to implement. formed, are generated according to The Doppler shiftis, for a nonmoving own-ship, detennhed by the target veklties, while the bearing rate is determined by the same velacities dlpfdQ1 by the range. The spdd representptaon in this jwpr uses tbis difference in behavior to give fast rrnd bim free esthathn of the range. Insteadof iterating a werllghtea last squares problem using bearingand frequency measurements and measured by s i m d m m l y , the true bearingsand the course are estirnrated in a bearings only step fdlowed by a frequency only step, which estimates range dfrequency. The mgc estimate then gives the speed estimate. In bearings only tracking the Cartesian pseudo-linear esti- Modi3cations for scen