Passive sonar target localization using a histogram filter with model-derived priors

The histogram filter is a grid-based implementation of a recursive Bayesian estimator, which is derivable from the Bayes' filter. It is applied to passive sonar target localization where the prior distributions for the histogram filter result from acoustic simulations with uncertain environmental parameters. Under certain assumptions the this filter is shown to be able to localize a moving target broadcasting a tonal signal in shallow water using a single hydrophone. The paper concludes with ideas for relaxing these assumptions.