Digital Library

of the European Council for Modelling and Simulation



Application of Computational Intelligence to Target Tracking


Lars Nolle

Published in:


ECMS 2007 Proceedings

Edited by: Ivan Zelinka, Zuzana Oplatkova, Alessandra Orsoni


ISBN: 978-0-9553018-2-7

Doi: 10.7148/2007


21st European Conference on Modelling and Simulation,

Prague, June 4-6, 2007


Citation format:

Nolle, L. (2007). Application of Computational Intelligence to Target Tracking. ECMS 2007 Proceedings edited by: I. Zelinka, Z. Oplatkova, A. Orsoni (pp. 289-293). European Council for Modeling and Simulation. doi:10.7148/2007-0289.



In the oceanic context, the aim of Target Motion Analysis (TMA) is to estimate the state, i.e. location, bearing and velocity, of a sound-emitting object. These estimates are based on a series of passive measures of both the angle and the distance between an observer and the source of sound, which is called the target. These measurements are corrupted by noise and false readings, which are perceived as outliers.

Usually, sequences of measurements are taken and statistical methods, like the Least Squares method or the Annealing M-Estimator, are applied to estimate the target's state by minimising the residual in range and bearing for a series of measurements.

In this project, an ACO-Estimator, a novel hybrid optimisation algorithm based on Computational Intelligence, has been developed and applied to the TMA problem and its effectiveness was compared with standard estimators. It was shown that the new algorithm outperforms conventional estimators by successfully removing outliers from the measurements.

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