极坐标-直角坐标下水下目标跟踪算法及试验研究

在实际水下目标跟踪系统中,由声纳获得的速度量测是一个相对径向速度,并且量测噪声是非白的,为此提出了基于扩展量测和扩展状态的混合坐标系下水下目标跟踪算法。该方法把径向速度量测引入观测模型,提高了目标的状态估计精度和收敛时间;引入了扩充向量,克服了实际水下目标观测噪声非白的影响。提出了水下多目标跟踪水池试验方法。该方法应用静态长线阵和多目标信号源在水池实现了多目标和跟踪体之间的相对运动的模拟。水池试验结果表明所提出的方法性能明显优于基于量测转换跟踪方法(如MC方法),具有重大工程应用价值。

A novel underwater-target tracking algorithm with experimental study

In view of practical applications of underwater tracking of moving-targets, the rate mea-sure obtained with sonar is a relative radial rate. It cannot be used directly, and the sensor data are color contaminated. A new moving target tracking algorithm with an extended measurement vector (i.e. relative radial rate) and an extended state vector is proposed in this paper to improve steady-state estimation accuracy and convergence rate. A new experimental scheme of tracking multi-target in a water-tank environment is presented. Comparison of performance between the proposed method and the measurement conditioned (MC) approach is given. The results show that there is significant improvement in the tracking capability over MC method.