Underwater Target Tracking in Uncertain Multipath Ocean Environments

In order to address the problem of 3-D localization of an underwater target using a 2-D active sonar with unknown oceanographic factors in a multipath environment with heavy clutter, a novel iterative framework based on Maximum Likelihood Probabilistic Data Association (ML-PDA), which considers ocean sound speed profile (SSP) uncertainty and utilizes multiple detections to realize 3-D position estimation with only bearing and time of flight …