基于双曲调频距离误差的目标跟踪修正算法

双曲调频信号的多普勒不变性可使运动目标匹配滤波输出的能量损失达到最小，在运动目标检测与参数估计中具有独特优势，已广泛应用于新型主动声呐。然而其多普勒不变性在提高检测能力的同时，会引入目标距离估计误差，从而影响主动声呐跟踪性能。文章在分析双曲调频信号距离估计误差的基础上，提出了目标跟踪算法的误差修正方法，通过将距离估计误差公式与传统观测方程及滤波算法进行融合，实现目标跟踪算法的误差补偿，显著提高了算法的跟踪性能，尤其是对快速运动目标的跟踪性能。

The modified target tracking algorithm with range bias compensation of HFM waveforms

Hyperbolic frequency modulated (HFM) waveforms offer the detection performance that is named "Doppler invariance", which makes a minimal output loss. It has been applied in new sonar systems because of its advantages in signal detection and estimation. In the meantime the Doppler invariance leads a ranging bias in estimating the range of moving targets, which thereby affects the tracking performance. In this article, the range bias is analyzed based on the Doppler invariance of HFM waveforms. And then, a modified target tracking algorithm is proposed, which combines the range bias formula and the traditional tracking algorithm together. By doing so, the tracking performance can be improved particularly for fast moving target.