A passive detection and tracking divers method based on energy detection and EKF algorithm

Divers have always played a strategic role throughout history. They are competent to perform numerous tasks which are inaccessible to others. However, they can also prove to be a formidable foe, especially in shallow port, waterway locations. This is evident from numerous criminal incidents in past wherein divers played a significant role. In order to protect these maritime locations from possible damages by unfriendly divers and effectively improve security of Territorial Ocean, this paper presents a passive detection and tracking of diver procedure based on Energy Detection and extended Kalman Filter (EKF) algorithm is proposed, simple named PDTDM. PDTDM method can effectively distinguish divers from marine animals in complexity underwater environment. PDTDM method can perform nonlinear tracking with high accuracy with low energy consumption. Difference time-delay and Doppler shift obtained from “chirp” analysis are used as parameters for EKF to generate the track which is then applied into, energy detection and 3D location framework is used to obtain reliable coordinates of divers. It is also used to differentiate divers from other possible marine artifacts. Simulation shows that PDTDM method can reduce energy consumption using the reliable detection scheme while improve the accuracy of tracking divers.