1. EE-608 Course project Adaptive Kalman Structure for Passive Undersea Tracking Pannir Selvam E (05407703) Vikram Mehta (CEP) Praveen Goyal (05307810) Guided By Prof. U.B. Desai

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

3. Submarine – Ship geometry

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

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

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

7. 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

8. Dynamic model & measurement equation used

9. 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 1988 2.Misha Schwartz 3.Adaptive Filter Theory by Simon Haykin