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In networked mobile multitarget tracking systems, parameters such as detection probabilities, clutter rates, and motion model parameters are often unknown and time-varying. Such parameter variability can seriously degrade the performance of a multitarget tracking system. Here, we propose a Bayesian tracking framework in which the multisensor-multitarget tracking problem is formulated according to...
We consider the task of conducting underwater surveys with a sonar-equipped autonomous underwater vehicle (AUV) in environments with strong currents. More specifically, this topic is addressed in the context of mine countermeasure operations employing synthetic aperture sonar (SAS) sensors. Two complementary algorithms that allow the AUV to autonomously adapt its survey route based on sophisticated...
This work describes the development of continuous active sonar (CAS) processing at CMRE. The software uses subband processing to achieve a faster update rate than is possible with pulsed active sonar (PAS). The software development was based on CMRE's PAS processing software, CAINPro, which has been thoroughly tested during previous sea trials and in postprocessing data analysis. Computational efficiency...
CMRE has been evaluating the potential of autonomous networked ASW using underwater vehicles through a program of sonar signal processing, underwater communications, navigation and robotic behavior developments and at-sea decision support tested through an ambitious seagoing experimental program and demonstrated during NATO ASW exercises. In this paper the various scientific aspects of the program...
Buoyancy-driven underwater gliders are typically employed to sample the water column environment in the ocean [1]. As one of the efforts of extending the capabilities of traditional underwater gliders, CMRE has been working on the ability of gliders to react to signals of interest. This capability was implemented in a Teledyne Webb Research SLOCUM glider [2], and performed via acoustic signals. During...
Forward looking sonars (FLS) are nowadays popular for many different applications. In particular, they can be used for Automatic Target Recognition (ATR) in the context of Mine Countermeasures. Currently, ATR techniques are applied to raw data which generates many false positives and the need for human supervision. Mosaicing FLS data increases target contrast and thus reduces false positive rate....
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