Tracking of high bearing-rate targets with the maximum a-posteriori broadband tracker

Tracking of high bearing-rate or maneuvering targets has always been dificult with traditional sonar pro- cessing methods and, along wirh poor displays accounts for the failings of most tracking techniques. In a previous paper; a new method of integrated detection, localization, and tracking of multiple broadband signals directly from array data was presented (Maximum A-Posteriori (MAP) tracker). In this work, we explore a variation of the MAP tracker designed to follow fast-moving contacts. Spec$- ically, two methods have been developed to facilitate the tracking of slow, moderate, and fast-moving contacts simul- taneously. Thefirst approach attempts to adapt the value of the state process covariance matrix Q according to the esti- mated mean velocip and acceleration of each contact over a single "6atch" of data. The second method was devised to effectively "slow down" the object of interest by transforn- ing the measurement space in such a way as to preserve all fhe information in intermediate processing. The hvo tech- niques are then demonstrated separately or in parallel and produce good results for both synrhetic and real data.