EE-608 Course project Adaptive Kalman Structure for Passive Undersea Tracking Pannir Selvam E ( ) Vikram Mehta (CEP) Praveen Goyal ( ) Guided By Prof. U.B. Desai

AIM  Estimate submarine range  Use passive sonar  Adaptive Kalman filter

Submarine – Ship geometry

B L R Submarine 1, t 1 L 2, t 2 3, t 3 Propagation of errors – nonlinear transformations

Estimation problem  Propagation of errors – Taylor series  Measurements of  1 and  2 have AWGN  Kalman Structure  Model  ’s  R - Gated

Estimation problem  Propagation of errors – Taylor series  Measurements of  1 and  2 have AWGN  Kalman Structure  Model  ’s  R - Gated

Block diagram of Two Stage Kalman Structure Time Delays Correlation Bearing Function Bearing Filter Non Linear Range Function Time Delay Filter (  2 ) Time Delay Filter (  1 ) Range Filter Time Delay Process Variance Adaptive Feedback Loop Second Stage Moving Source

Dynamic model & measurement equation used

References 1.“An Adaptive Two Stage Kalman Structure for Passive Undersea Tracking” by Mark R Allen and Louis A King, IEEE Transactions on Acoustics, Speech and Signal Processing, Vol. 16, No. 1, Jan Misha Schwartz 3.Adaptive Filter Theory by Simon Haykin