Application of UKF for passive tracking of maneuvering target based on bearings of two sonar sensors

Passive tracking of maneuvering target in water based on bearings of two sonar sensors is a nonlinear state estimating issue. In this paper, the algorithm of Unscented Kalman Filtering (UKF) is applied to the nonlinear filtering of tracking system, and then maneuvering target could be tracked effectively based on two sonar sensors combining with the algorithm of Interactive Multiple Models (IMM).