Underwater Noncooperative Target Localization and Tracking Using Range-Only Measurements

In this article, noncooperative target localization and tracking using multiple autonomous underwater vehicles (AUVs) are investigated. The main goal is to improve the target localization accuracy and tracking performance with the range-based information and to solve the problem of unobservability. A pose-based region-optimal (PBRO) algorithm is designed using range-only measurements in the scenario where three AUVs track and locate a noncooperative target. PBRO improves the target localization accuracy by modifying the target pose estimation using range-only measurements and enables the AUVs to have the optimal tracking performance in the obtained uncertainty region by the target motion constraints. Moreover, the proposed tracking strategy can get the maximum observability of the target. The simulation results validate the advantages of PBRO as compared with the alternative algorithm.