Wilkens, K.K.WilkensDaun, M.M.Daun2022-03-112022-03-112011https://publica.fraunhofer.de/handle/publica/3736032-s2.0-80052541718In active sonar, low measurement rates of up to several minutes are commonly used. Thus, strong manoeuvres may occur between two measurements. To assure high-quality tracking, target dynamics have to be modelled precisely. In this paper, a variant of the Nearly Constant Velocity model is presented with deviations modelled according to the assumption that for submarine manoeuvres a change in heading is more likely than a change in speed. The proposed motion model uses Gaussian Mixtures to approximate the non-Gaussian distribution after the Kalman Filter prediction step. It is realised in the framework of multi-hypothesis tracking and applied to the Metron data set which simulates sonar contacts detected by 25 distributed sonobuoys. A high amount of low-quality input data is provided to the tracker. Thus, this paper additionally proposes a contact-fusion approach to display the measurements of a single time step and of multiple sensors into Cartesian coordinates.en004conference paper