水下声自导武器目标跟踪建模与仿真

Modeling and Simulation of Target Tracking for Underwater Acoustic Homing Weapon

目标跟踪是水下声自导武器智能化发展的重要方向之一。水下主动声自导武器目标跟踪过程具有观测基座运动和观测时变的特点,本文利用水下声自导武器导航定位及航行姿态参数和水下声自导武器检测到的目标信息,基于坐标变换将目标坐标从水下声自导武器坐标系变换到大地坐标系,解决了观测基座运动的问题,通过实时计算采样周期解决了观测时变问题,建立了基于卡尔曼滤波的水下声自导武器目标跟踪模型,分析了滤波初值选取问题,给出了滤波初值选取的工程方法。仿真结果证明,本文所建模型正确,跟踪算法具有较快的收敛速度,跟踪效果良好。

Target tracking is one of the important directions in the development of modem intellectualized underwater acoustic homing weapon. However, the observation-base is moving and the observation is time-varying when an active acous- tic homing weapon tracks a target. In this study, the parameters of location and attitude from the acoustic homing weapon＇s navigation system and the target information detected by the acoustic homing weapon are used to resolve the problem of ob- servation-base movement and time-varying observation. The target coordinates in acoustic homing weapon coordinate systems are transformed to terrestrial coordinate system to resolve the problem of observation-base＇s movement, and the sampling time is calculated in real time to resolve the problem of observation＇s time-varying. A target tracking model of acoustic homing weapon based on Kalman filter is established. The choosing of filter＇s initialization values is analyzed, and the application method of choosing filter initialization values is presented. Simulation results show that the model is accurate, and the tracking algorithm is of faster convergence and better tracking effect.