Distributed Target Tracking using Consensus-based Bayesian Filtering by Underwater Acoustic Sensor Networks

Underwater target tracking, which aims to achieve accurate position of underwater target, has been one of the key issues in the underwater research. However, due to the unique underwater environment such as extraneous interference and weak communication, how to realize the accurate tracking of underwater target becomes a challenging problem. In this paper, we are concerned with the problem of underwater target tracking. The Bayesian based rule is proposed to judge the existence of target for single sensor node. In order to realize the tracking for the underwater target. a consensus-based Bayesian tracking method is proposed, which possesses better accuracy and spends less time in communication. In addition, the consensus of the consensus-based Bayesian algorithm is analyzed. Finally, simulation results are performed to show the effectiveness of the proposed algorithm in this paper.