UUV靶场试验非同步水下被动声学跟踪算法

Algorithm of Underwater Passive Target Tracking and Experimental Research Based on Asynchronous Beacon in UUV Range Test

在无人水下航行器(UUV)正式投入使用前,需要一系列的海上考核与验收,传统的合作式目标水下测量方法不利于远距离目标航行轨迹的监测。该文提出了一种新的靶场UUV水下跟踪方法,利用全球定位系统(GPS)确定初位置,并利用UUV上的固定连续声学发射频率信息,采用伪线性Kalm an滤波进行UUV运动状态参量估计,对UUV进行了跟踪,给出了运动状态跟踪算法,并进行了仿真研究,研究结果表明,该方法可以很好地跟踪水下UUV的运动轨迹。

Conventional cooperative underwater measuring method is not sufficient for long-range monitoring of trace in the evaluation and acceptance trial of unmanned underwater vehicle（UUV）.We present a new method by obtaining initial position and frequency information which are derived from the global positioning system（GPS） and acoustical transmitter of UUV to estimate UUV motion state parameters with PLE-Kalman algorithm.A tracking algorithm of motion state is proposed by following UUV trace.Simulation results show that the present method can track underwater motion trace of UUV perfectly.