Design and Implementation of a UUV Tracking Algorithm for a USV
Round 1
Reviewer 1 Report
The editor / the authors
This paper presents an unmanned underwater vehicles (UUVs) tracking algorithm for an unmanned surface vehicles (USVs). The algorithm consists of three main software models that estimate the UUV states based on an extended Kalman filter (EKF) model with a navigation smoothing method.
The three software models of the UUV tracking algorithm are studied in a virtual simulation environment. Next, the algorithm was applied to a USV and tested to verify its performance on a sea trial.
This paper has been prepared carefully. Drawings are neat and legible.
Opinions
1. In lines 42-46: "Acoustic underwater communication has limitations ..." only general limitations specific to the underwater channel are presented.
The article mainly focuses on the tracking algorithm, although the data obtained from UUV is via the underwater channel and the considerations take into account the fact of loss of underwater communication and long transmission times as problems affecting the algorithm.
2. In Chapter 2, there is no information about the parameters of an acoustic telephone modem (ATM) - i.e. operating frequency, bandwidth, bandwidth, etc.
3. Chapter 4 on sea testing is extremely sparse with regard to information on simulations.
It was performed in a sound speed profile. There is no information about the parameters of the acoustic underwater channel - the type of propagation.
Author Response
Please see the attachment.
Author Response File: 
Author Response.docx
Reviewer 2 Report
A very interesting paper that - in general - is well-written, detailed, well-illustrated and logically structured. The English is a little clunky in places and could do with some minor edits to perhaps help with clarity in expression. Overall the paper content is clear and whilst technical in nature it is easy enough to grasp. For the most part there is adequate detail - especially in terms of the background information provided. However, the last two sections are a little too brief re: reporting the results of the test, and also the summary and conclusions which I feel do need more detail to 'sell' the idea. To this end the paper seems to end rather abruptly and I would like to have known more about the test(s) and the development of this approach perhaps also in a civilian context.
Author Response
Please see the attachment.
Author Response File: Author Response.docx
Round 2
Reviewer 1 Report
Thank you for your answers. Additionally, the information entered will enrich the article.
