一种基于满意滤波的纯方位目标跟踪算法

A Bearing-only Target Tracking Algorithm Based on Satisfactory Filtering

针对潜艇纯方位目标跟踪算法存在算法初始化困难、收敛速度慢、稳定性差等问题,借鉴交互式多模型算法(IMM)的思想,将EKF实时解算出的滤波增益和满意滤波解算出的稳态增益实时融合并行工作,以求克服滤波初值对滤波器的影响,尽可能地消除线性化误差,最终输出具有更高精度的估计结果。仿真实验表明,提出的单站纯方位算法对滤波初值的设置有较大的领域范围,较好地克服了算法对滤波初值的敏感性问题,同时增加了算法的稳定性。

Aimming at the problems of difficult initialization, low rate of convergence and bad stability existing on the submarine bearings-only target tracking algorithm, this paper borrows ideas from the IMM algorithm and makes the filter gains acquired both from EKF and Satisfactory work together, in order to conquer the consequence of initial value, remove the linearization error as much as possible, and give a more accurate tracking result. Simulation results show that this algorithm has a bigger extent of initial value, and rises the stability.