基于灰色预测的无人水下航行器目标跟踪

Moving Target Tracking Based on Grey Prediction for Unmanned Underwater Vehicle

针对无人水下航行器目标跟踪控制问题,基于无人水下航行器传感器信息进行目标运动预测来实现跟踪控制。从目标预测理论出发,将灰色动态预测模型的建模原理引用到目标预测中,在对传感器进行数据滤波、小样本灰色建模与灰色动态预测的基础上,实现对目标运动的预测,文章详细阐述了基于灰色动态预测的传感器故障诊断的具体实现方法和步骤,对目标进行匀速运动、匀加速运动、变加速运动三种典型运动进行仿真研究,通过预测值与实际值之间的比较显示灰色预测方法能快速、准确的预测出目标的位置信息。

According to the problem of tracking of the moving target control for autonomous underwater vehicle, based on the information of sensor for autonornous underwater vehicle, the tracking of the moving target control is realized. Accord- ing to the principle of target prediction, the modelling principle of grey, dynamic prediction method is introduced. The target prediction can be fulfilled based on data filtering, grey modeling of small-scale sampling and grey prediction. The detailed practicing method and steps of target prediction based on grey prediction are proposed in this paper, and the simulation research is canied out for three typical movement, that is regularity movement,accelerate regularity movement and variety accelerate movement. The result shows that the method can predict the infotmation of the target fastly and accurately based on the comparison between the value of prediction and the real value