Robust target tracking with multi-static sensors under insufficient TDOA information

Hyunhak Shin, Bonhwa Ku, Jill K. Nelson, Hanseok Ko

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)


This paper focuses on underwater target tracking based on a multi-static sonar network composed of passive sonobuoys and an active ping. In the multi-static sonar network, the location of the target can be estimated using TDOA (Time Difference of Arrival) measurements. However, since the sensor network may obtain insufficient and inaccurate TDOA measurements due to ambient noise and other harsh underwater conditions, target tracking performance can be significantly degraded. We propose a robust target tracking algorithm designed to operate in such a scenario. First, track management with track splitting is applied to reduce performance degradation caused by insufficient measurements. Second, a target location is estimated by a fusion of multiple TDOA measurements using a Gaussian Mixture Model (GMM). In addition, the target trajectory is refined by conducting a stack-based data association method based on multiple-frames measurements in order to more accurately estimate target trajectory. The effectiveness of the proposed method is verified through simulations.

Original languageEnglish
Article number1481
JournalSensors (Switzerland)
Issue number5
Publication statusPublished - 2018 May 8

Bibliographical note

Funding Information:
Funding: This research was funded by the ADD (UD160002DD).

Publisher Copyright:
© 2018 by the authors. Licensee MDPI, Basel, Switzerland.


  • MHT
  • Multi-static sonar
  • Sonar applications
  • Sonar tracking
  • Tree-search algorithms

ASJC Scopus subject areas

  • Analytical Chemistry
  • Biochemistry
  • Atomic and Molecular Physics, and Optics
  • Instrumentation
  • Electrical and Electronic Engineering


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