基于卡尔曼滤波的单目标后续检测与跟踪方法

An approach to single target′s posterior detection and tracking based on Kalman filter

研究了水下高速运动平台下的目标被动检测与跟踪,提出一种新的单目标纯方位检测与跟踪方法。基于卡尔曼滤波,建立航行器与目标的相对运动方程,充分利用相继目标方位观测量间的相关性,提高目标检测能力,并完成对目标的有效跟踪。通过计算机仿真将此方法与传统的目标检测跟踪方法进行了对比,结果表明在由于信噪比过低导致出现假目标观测值时,传统方法会导致跟踪结果发散,而采用文中方法仍能对真实目标进行有效跟踪。

Target＇s passive detection and tracking on under-water high-speed moving platform has been studied. A new approach to single target＇s bearings-only detection and tracking is proposed. Based on Kalman filter, an equation describing the relative movement between the sailing machine and the target is founded. Relativity of continuous target＇s bearing measurements is fully utilized. It leads to higher ability of target detection and efficient tracking of target. Computer simulation is made to compare this method with the conventional method of target＇s detection and tracking. The results show that the latter one leads to divergence of tracking because of pseudo measurements resulting from small SNR. But the method proposed in this paper is effective.