This study considers tracking an underwater transmitter using a linear array sonar. The linear array sonar measures both the transmitter’s frequency and the conic angle with respect to the array’s direction. By analyzing the transmitter’s conic angle and frequency, the array sonar sensor estimates the transmitter’s three-dimensional position and (constant) velocity. This tracking problem is termed the conic angle-frequency tracking (CAFT) problem in our paper. We first consider tracking a transmitter which moves with a constant velocity. Then, we extend the tracking filter, so that one can track a transmitter which changes its heading occasionally. For tracking a transmitter which changes its heading in three-dimensional space, we propose a filter restart scheme. As the transmitter’s heading change is observed, one restarts all filter tracks so that the transmitter can be tracked continuously after its abrupt heading change. To the best of our knowledge, this study is unique in solving the three-dimensional CAFT problem for a constant velocity transmitter or a transmitter which changes its heading occasionally. The effectiveness of the proposed three-dimensional CAFT filter is demonstrated utilizing computer simulations.

中文翻译：

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线性阵列声纳圆锥角频率测量下发射机的三维跟踪

本研究考虑使用线性阵列声纳跟踪水下发射器。线性阵列声纳测量发射器的频率和相对于阵列方向的圆锥角。通过分析发射器的圆锥角和频率，阵列声纳传感器估计发射器的三维位置和（恒定）速度。在我们的论文中，这个跟踪问题被称为圆锥角频率跟踪（CAFT）问题。我们首先考虑跟踪以恒定速度移动的发射器。然后，我们扩展跟踪过滤器，以便可以跟踪偶尔改变航向的发射机。为了跟踪在三维空间中改变航向的发射机，我们提出了一种滤波器重启方案。当观察到发射机的航向变化时，可以重新启动所有滤波器跟踪，以便发射机在航向突然变化后可以连续跟踪。据我们所知，这项研究在解决恒速发射机或偶尔改变航向的发射机的三维 CAFT 问题方面是独一无二的。利用计算机模拟证明了所提出的三维 CAFT 滤波器的有效性。