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Acoustics, Speech and Signal Processing, IEEE Transactions on, Vol. 29, No. 3. (June 1981), pp. 614-617, doi:10.1109/tassp.1981.1163609 Key: citeulike:11972988
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The problem of underwater passive tracking using sonar time delays is examined from the viewpoint of coordinate systems. Polar coordinates are advanced as being particularly suited for this problem and a linear polar state variable model is derived. The performance of this filter is analyzed using noisy synthetic sonar time delay data. The use of Doppler frequency data to achieve improved filter performance is briefly mentioned.
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