Multiple Mobile Target Detection and Tracking in Active Sonar Array Using a Track-Before-Detect Approach
arxiv(2024)
摘要
We present an algorithm for detecting and tracking underwater mobile objects
using active acoustic transmission of broadband chirp signals whose reflections
are received by a hydrophone array. The method overcomes the problem of high
false alarm rate by applying a track-before-detect ap- proach to the sequence
of received reflections. A 2D time- space matrix is created for the
reverberations received from each transmitted probe signal by performing delay
and sum beamforming and pulse compression. The result is filtered by a 2D
constant false alarm rate (CFAR) detector to identify reflection patterns
corresponding to potential targets. Closely spaced signals for multiple probe
transmissions are combined into blobs to avoid multiple detections of a single
object. A track- before-detect method using a Nearly Constant Velocity (NCV)
model is employed to track multiple objects. The position and velocity is
estimated by the debiased converted measurement Kalman filter. Results are
analyzed for simulated scenarios and for experiments at sea, where GPS tagged
gilt-head seabream fish were tracked. Compared to two benchmark schemes, the
results show a favorable track continuity and accuracy that is robust to the
choice of detection threshold.
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