水下目标自主连续跟踪与定位算法研究

针对水下无人航行器进行纯方位目标运动分析时难以获取精确稳定的目标方位的情况,研究了实时有效的方位预处理方法。针对水下环境噪声起伏变化的特点,采用自动阈值检测和抛物线波束内插方法获取精确的目标方位;提出了一种预置跟踪算法实现对目标方位的连续检测跟踪,克服了方位历程中可能出现的野值和漏检现象,确保基于修正极坐标的扩展卡尔曼滤波算法(modified polar extended Kalman filter,MPEKF)正常工作。试验结果表明,该方法能够对移动目标进行运动分析,正确获取目标距离、速度信息,误差较小,具有很高的工程价值和军事应用前景。

Study of automatic continuous tracking and location algorithm for underwater target

It is difficult to obtain accurate and stable target angle when bearing only target motion analysis is used on unmanned underwater vehicles.For this case,an effective real-time pretreatment of target angle is studied in this paper.Aiming at the unstable underwater acoustic noise,automatic threshold detection and parabolic beam interpolation methods are used to obtain accurate target bearing.A preset target tracking algorithm is proposed to realize the continuous detection and tracking of target bearing,and overcome the missing detection and wild value in time-bearing course.All the above methods ensure that the Modified Polar Extended Kalman Filter(MPEKF) algorithm works properly.Experiment result shows that the motion of moving target could be analyzed,and the distance and velocity of the target could be acquired correctly using the method proposed in this paper,which has good prospect in engineering and military applications.