基于约束的单舰纯方位跟踪算法

A Single Warship Bearings-Only Tracking Algorithm With Constraints

提出一种把运动目标舰艇的航速约束以及对陆地岛礁规避的约束加入修正增益推广卡尔曼滤波器的方法 ,对目标观测方程和目标状态方程分别进行修正 ,用于单舰对海上运动舰艇辐射源进行纯方位跟踪。航速约束可以当作输出为 0的增加的观测数据来处理 ;另外 ,根据当前估计的目标位置和航速 ,当下一个周期目标将航行到陆地岛礁或即将航行到陆地岛礁时 ,用规避因子矩阵来修正目标舰的航向和航速 ,以避免目标航行到陆地岛礁。计算机模拟结果表明 ,该方法能提高对海上运动舰艇辐射源的无源定位精度。

An approach to incorporate constraints of a moving target warship and evasion from land and islands into modified gain extended Kalman filter(MGEKF)is presented. The target observation equation and the target state equation are modified respectively to track a maritime moving target warship emitter in a bearings-only manner. The speed constraints can be regarded as additional observation data which outputs are zero. According to the estimated present target position and speed, when the target runs into or approaches the land and islands in the next period, the evasion factor matrix is used to modify the course and speed of target warship, thus avoiding the target warship running into the land and islands. Computer simulation results prove that this approach can improve the passive location precision on a maritime moving target warship emitter.\;