UUV-platform cooperation in covert tracking

In underwater tracking, such as with an unmanned undersea vehicle (UUV) or torpedo it is advantageous to track a target covertly. The Maximum Likelihood-Probabilistic Data Association (ML-PDA) tracking algorithm, which has been demonstrated to establish and maintain track in low SNR/high clutter environments, is used to develop track information in a covert tracking application. By combining intermittent sensor data (active sonar) from the UUV with that of the launch platform (passive sonar) in the ML-PDA track algorithm, fewer active transmissions are required to establish and maintain a given track accuracy thereby reducing the chance of target alertment. We show that this is a viable operating model and demonstrate how sensor placement affects track accuracy, including determination of best sensor placement and requirements on active transmissions to maintain minimum tracking accuracy.