Linear pseudo-observation filter application in tracking and positioning tasks based on observations with random delays

The possibility of adaptation and effectiveness of a linear pseudomeasurement filter in a stochastic observation system model with random time delays between arriving observations and the factual state of a moving object are investigated. The method of pseudomeasurements is modified to combine the results of observations performed by several measuring devices located at different distances from the object and having different time delays. The filter is realized in a model that considers measurements of direction angles and range. Experimental computations are carried out for a model example describing the motion of an autonomous underwater vehicle that uses two stationary acoustic beacons for positioning.