基于卡尔曼滤波水下弹道测量系统研究

水下弹道测量系统利用多传感器完成对鱼雷、靶标的跟踪定位．针对通常的几何定位方法，其算法复杂且定位精度不高的问题，研究了用于水下弹道测量系统的纯距离目标跟踪定位卡尔曼滤波算法，推导了相应的滤波公式．通过系统的仿真结果表明：该算法在收敛速度和估计精度方面都比较令人满意．

THE UNDERWATER TRAJECTORY MEASUREMENT SYSTEM BASED ON KALMAN FILTER

Using multi-sensors, the underwater traj ec tory measurement system give the location of torpedo and drone. Concerning the p roblem of low accuracy and complexity of normal method of geometry location, thi s paper presents an application of extend Kalman filter to target tracking and l ocation of underwater trajectory measurement system with distance-only measurem ent, deduces the formulation and gives the result of simulation. Simulation resu lts show that the algorithm performs well in aspects of convergence, tracking ac curacy and stability.