Behavior: BHV_ConstantBearing

Brief Synopsis:

Behavior for maintaining a constant relative bearing to an acoustic target.

Authors:

  • Don Eickstedt
  • Henrik Schmidt

Groups:

Distribution:

  • lamss.mit.edu

Contact Email:

  • henrik@mit.edu

Function:

This behavior works in concert with pLamssBearingTracker and pLamssTrackManager during acoustic tracking missions to optimize tracking resolution once the target signal is detected and the left-right ambiguity inherent to the towed array is broken. Thus, when entering the Tracking phase of the DCLT sequence, this behavior computes a heading and speed objective function for maintaining a specified relative bearing to a target being tracked using either a hull-mounted or towed acoustic array. The desired relative bearing can be configured for only forward of broadside, or alternatively either forward or backward, and typically close to broadside, e.g. $80^{\circ}$. The behavior monitors bearing rate, and if it goes stale, the behavior autonomously reverses the heading to maximize target motion information. Originally developed and tested during the ONR PLUSNet program by Don Eickstedt, this behavior is now a standard component of a passive acoustic DCLT mission.