一种单站纯方位目标跟踪算法研究

Study of the single platform bearings-only target tracking algorithm

纯方位目标跟踪是水下目标定位跟踪的重要问题。伪线性估计算法是主要的纯方位目标跟踪算法中之一,在水下目标定位跟踪领域中得到了广泛的应用,其计算简单,但估计结果严重有偏。为了克服伪线性估计算法的估计有偏性,提出一种新的辅助变量方法,利用过去观测的三个方位来预测当前方位,从而消除该算法的估计偏差,得到理论上无偏的修正伪线性估计算法。通过多次计算机仿真计算,表明该算法是一种递推、稳定以及无偏的估计算法。

Bearings-only target tracking is an important problem in the underwater target tracking. Pseudo-linear estimation algorithm is one of the primary bearings-only target tracking algorithms and has been applied widely in the underwater target tracking. Although the algorithm could be implemented simply, it produces biased estimates. A solution is presented to get rid of the algorithm's estimation error based on instrumental variables by predicting the current bearing with previous three bearings. Then the modified pseudo-linear estimation algorithm is obtained to eliminate the estimating error by computer simulation, it is shown that the new algorithm is recursive, unbiased and robust.