水下目标的多速率交互多模型跟踪算法

为解决水下机动目标精密跟踪定位的实时性和可靠性问题，根据水下目标运动速度慢、机动性能弱的特点，该文利用小波变换技术实现了模式空间与测量空间的混合滤波，建立了水下机动目标多速率交互多模型跟踪定位算法，给出了多速率常速度和常加速度多模型滤波算法的统一表示形式。仿真试验的结果表明水下目标的多速率交互多模型跟踪算法具有较低的计算复杂度，能够改善水下目标跟踪的可靠性和实时性。

Algorithm of Multirate Interacting Multiple Model for Underwater Target Tracking

To solve the real-time and reliability problem of the underwater maneuver target tracking, according to the features of under maneuver target motion, namely, slow speed and weak motion capability, the mixing filter between pattern space and measurement space is performed by the wavelet transform, and the algorithm of multirate interacting multiple model is proposed for under maneuver target tracking. Meanwhile, the uniform expressions of multirate interacting multiple model are presented. The simulation results show that the algorithm of the multirate interacting multiple model has the low computation complexity and can improve the real-time and reliability performances of the underwater maneuver target tracking.