基于转换量测的水下目标跟踪

A New Algorithm Based on Converted Measurements for Tracking Underwater Maneuvering Targets

针对水下目标跟踪的实际应用情况,提出了基于转换量测误差统计分析的去偏转换量测和基于修正转换量测误差的无偏转换量测方法;给出了基于转换量测的球坐标-直角坐标下目标跟踪算法,并进行了性能仿真。结果表明:这两种跟踪方法都具有很高的跟踪精度和稳定性;基于修正转换量测的跟踪算法对角度量测误差的不同分布有较强的适应性,在角度量测误差较大的情况下,该算法的性能要优于基于误差统计分析的跟踪算法。

Target dynamics is usually modeled in the Cartesian coordinates, while target measurements are directly available in the original sensor coordinates. The exact compensation for the bias in the classical Sphericalto-Cartesian conversion depending on the statistics of the measurement errors is presented, and the new algo- rithm for tracking underwater maneuvering targets based on converted measurements is given. Some Monte Carlo simulations are performed. The results show that the tracking algorithm based on unbaise converted measurements presented higher performance to non-Gaussian noises.