Evaluation of the Probabilistic Data Association filter in a realistic sonar environment / William A. Roger ; approved by C.W. Bright. : D68-21/34-1994E-PDF

"The problem of tracking an underwater narrowband signal that has experienced the many vagaries of open ocean transmission is of considerable interest. Usually the simpler signal followers developed for radar applications fail when attempting to handle the unique underwater environment encountered by a passive line array receiver. This paper investigates a particular recursive algorithm called Probabilistic Data Association filter to determine if it can provide robust passive tracking of low signal-to-noise signals in a background of clutter caused by other sources and noise. It will be shown that two modifications to the basic algorithm substantially improve its tracking performance and its ability to estimate the target signals trajectory. In addition, an effective technique for detecting when the filter is no longer following the signal will be presented. This loss-of-lock detector works for very low-level target signals"--Abstract, page ii.

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