Centralized Fusion Based on Interacting Multiple Model and Adaptive Kalman Filter for Target Tracking in Underwater Acoustic Sensor Networks

Underwater acoustic sensor networks (UASNs) play an important role in the ocean's protection. They can realize real-time data collection, monitoring, exploration, and many other underwater applications by connecting and coordinating seafloor sensors and underwater vehicles. To achieve these application objectives, such as fishes tracking in biological monitoring field and submarines tracking in military field, target tracking is one of the key techniques. This paper presents a centralized fusion algorithm based on the interacting multiple models and the adaptive Kalman filter (IMMCFAKF) for target tracking in UASNs. Specifically, by introducing an adaptive forgetting factor into the optimal centralized fusion Kalman filter algorithm, the optimal centralized fusion adaptive Kalman filter (CFAKF) algorithm is obtained first. Then, combining the superiorities of both the optimal CFAKF algorithm and the conventional IMM algorithm, the optimal IMMCFAKF is achieved. The numerical simulations are provided to demonstrate the effectiveness of the proposed optimal IMMCFAKF algorithm.