An Underwater Target Tracking Algorithm Based on Extended Kalman Filter

The technology of ocean monitoring is more advanced while the continuous development industrial Internet. Unmanned underwater vehicle (UUV) one major ways for environment monitoring, which makes high-precision positioning, and tracking it key problems needs to be solved urgently. An acoustic positioning algorithm based on multiple beacons proposed reduce error system caused by uncertain sound speed. consists GPS intelligent buoys floated sea surface signal generator installed UUV. effective speeds between UUV different are considered unequal estimated as state parameters, together with kinematic parameters Based equations UUV, model obtained under framework extended Kalman filter. Simulation results show that can correct speed improve stability accuracy system.