双基阵纯方位目标的可观测性研究及跟踪性能改进

针对双基阵提供的有偏方位角量测信息,对双基阵纯方位目标可观测性的必要条件及其C ram er-R ao下限进行了理论推导.在此基础上,采用一种新的辅助变量方法对双基阵纯方位跟踪性能进行改进,并在可观测条件下对目标进行了蒙特卡洛仿真实验.实验结果表明,新的辅助变量方法可以使参数估计精度大大提高,并且上述理论对制定实际的跟踪策略或算法具有一定的参考价值.     

Ant colony optimization for bearings-only maneuvering target tracking in sensors network

In this paper, the problem of bearings-only maneuvering target tracking in sensors network is investigated. Two objectives are proposed and optimized by the ant colony optimization （ACO）, then two kinds of node searching strategies of the ACO algorithm are presented. On the basis of the nodes determined by the ACO algorithm, the interacting multiple models extended Kalman filter （IMMEKF） for the multi-sensor bearings-only maneuvering target tracking is introduced. Simulation results indicate that the proposed ACO algorithm performs better than the Closest Nodes method. Furthermore, the Strategy 2 of the two given strategies is preferred in terms of the requirement of real time.     

基于UKF滤波的测向定位算法及性能分析

基于传统的The Unscented Kalman Filter(UKF)滤波算法,提出了一种新的改良后的UKF滤波算法.该算法直接选用动态模型中的状态变量,并增加一个再抽样过程,使得计算量更小,实现更简单.将改良后的UKF滤波算法应用到单站无源定位的测向法中,得到优于The extended Kalman Filter(EKF)滤波的定位效果,大大提高了定位精度.计算机仿真实验表明,应用该改进后的UKF算法比以往EKF类算法在滤波性能上有明显的提高.但是由于测向法自身的局限性,即使应用改良后的UKF滤波,当方位角逐渐增大时,测向法的定位效果仍然会严重恶化.因此,所提出的新UKF算法适合在非线性估计等问题中广泛应用,但对于单站无源定位,则应探究更优越的定位算法来代替测向法.     

Ant colony optimization for bearings-only maneuvering target tracking in sensors network

In this paper, the problem of bearings-only maneuvering target tracking in sensors network is investigated. Two objectives are proposed and optimized by the ant colony optimization (ACO), then two kinds of node searching strategies of the ACO algorithm are presented. On the basis of the nodes determined by the ACO algorithm, the interacting multiple models extended Kalman filter (IMMEKF) for the multi-sensor bearings-only maneuvering target tracking is introduced. Simulation results indicate that the proposed ACO algorithm performs better than the Closest Nodes method. Furthermore, the Strategy 2 of the two given strategies is preferred in terms of the requirement of real time.     

Biased bearings-only parameter estimation for bistatic system

According to the biased angles provided by the bistatic sensors,the necessary condition of observability and Cramer-Rao low bounds for the bistatic system are derived and analyzed,respectively. Additionally,a dual Kalman filter method is presented with the purpose of eliminating the effect of biased angles on the state variable estimation. Finally,Monte-Carlo simulations are conducted in the observable scenario. Simulation results show that the proposed theory holds true,and the dual Kalman filter method can estimate state variable and biased angles simultaneously. Furthermore,the estimated results can achieve their Cramer-Rao low bounds.     

BIASED BEARINGS-ONIKY PARAMETER ESTIMATION FOR BISTATIC SYSTEM

According to the biased angles provided by the bistatic sensors,the necessary condition of observability and Cramer-Rao low bounds for the bistatic system are derived and analyzed,respectively.Additionally,a dual Kalman filter method is presented with the purpose of eliminating the effect of biased angles on the state variable estimation.Finally,Monte-Carlo simulations are conducted in the observable scenario.Simulation results show that the proposed theory holds true,and the dual Kalman filter method can estimate state variable and biased angles simultaneously.Furthermore,the estimated results can achieve their Cramer-Rao low bounds.     

基于纯方位估计器精度的潜艇隐蔽攻击能力分析

潜艇隐蔽攻击是一个非常复杂的动态系统。它是海战态势、武器系统和估计器性能交叉作用的结果,由于系统的非线性和随机性本质,使得潜艇隐蔽攻击成为一个复杂的概率事件。在以往对纯方位定位算法精度研究的基础上,试图为装备论证的决策者或潜艇艇长提供一个可以衡量潜艇隐蔽攻击能力的上限标准,这正是该文所要研究的内容,称之为潜艇隐蔽攻击能力上限。该文在某一海战态势、武器系统和理想估计器条件下,提出了隐蔽攻击能力的上限;并给出求解在精度意义下隐蔽攻击能力的上限的解析算法公式系,以及统计模拟算法公式系;对应用理想估计器和实际估计器在隐蔽攻击中的能力进行了对比分析,并初步得到一些分析结论。     

Analysis and approximation of performance bound for two-observer bearings-only tracking

This paper presents the analytic recursive formulas of Cramér-Rao lower bound (CRLB) for the switching models system, in which the target moves either with a constant velocity or with a constant speed and a constant turn rate. For the case of two-observer bearings-only maneuvering target tracking, a reliable maneuver detection method is investigated and then utilized to approximate the theoretic CRLB. Finally, to demonstrate the agreement between the approximated CRLB using the proposed maneuver detection method and the theoretic one, a large number of Monte-Carlo runs under different maneuvering scenarios are conducted. Correctness of the analytic recursive formulas of CRLB and effectiveness of the proposed maneuver detection method are verified from these simulations.     

A new algorithm of bearings-only multi-target tracking of bistatic system

Much research mainly focuses on the batch processing method （e.g. maximum likelihood method） when bearings-only multiple targets tracking of bistatic sonar system is considered. In this paper, the idea of recursive processing method is presented and employed, and corresponding data association algorithms, i.e. a multi-objective ant-colony-based optimization algorithm and an easy fast assignment algorithm are developed to solve the measurements-to-measurements and measurements-to-tracks data association problems of bistatic sonar system, respectively. Monte-Carlo simulations are induced to evaluate the effectiveness of the proposed methods.     

粒子滤波在机动目标纯方位跟踪中的应用

文章将多模粒子滤波算法用于机动目标纯方位跟踪，通过估计模型的概率而不是寻找最优算法去进行局部线性化和表征非高斯后验密度，从而减小了近似误差。在仿真研究中，与IMM—EKF的比较验证了多模粒子滤波处理机动目标纯方位跟踪问题的优越性。