Determination of Process Noise for Underwater Target Tracking with Forward Looking Sonar

Target tracking is a process that provides information about targets in specific area and one of the key issues affecting safety any vehicle navigating water. The main sensor used for underwater target sonar, with most popular configurations being forward looking sonar (FLS). state vector usually estimated use numerical filter algorithms, such as Kalman (KF) its modification, or particle (PF). This requires definition model, including noise, measurement model. study focused on noise definition. It implemented Gaussian covariance matrix defined by author. An analytical empirical analysis was conducted, verification existing approaches survey published literature. Additionally, theoretical factors influencing which followed an verification. results were discussed, leading to conclusions. confirmed experiment compared commonly values processes.