UKF在潜艇对目标跟踪定位中的应用

Application of UKF in submarine′s target tracking and positioning

针对潜艇在隐蔽攻击中利用扩展卡尔曼滤波对敌舰目标进行跟踪定位时存在滤波精度低、误差大甚至出现发散的问题,将无迹卡尔曼滤波(UKF)应用在潜艇对敌舰的跟踪定位中。假设敌舰运行在CV模型下,由仿真实验的结果可以得出,在潜艇对敌舰目标的跟踪定位中无迹卡尔曼滤波与扩展卡尔曼滤波相比较,提高了其定位的精度并且解决了其发散的问题。在仿真实验中,潜艇对敌舰目标跟踪定位12 s后扩展卡尔曼滤波出现了发散的问题无法对敌舰目标进行实时的跟踪,但此时无迹卡尔曼滤波仍然可以实现对敌舰的跟踪与定位。

As there exist problems of low filtering precision,big filtering errors and even divergence when the extended Kalman filter(EKF)is used to track and locate the enemy warship target during the submarine′s stealthy attack,the unscented Kalman filter(UKF)is applied in the submarine′s tracking and positioning of the enemy warship.When the enemy warship is running under the CV model,the results of the simulation experiment show that,in comparison with the EKF,the UKF has higher positioning precision,and can resolve the divergence problem during the submarine′s tracking and positioning of the ene-my warship target.During the simulation experiment,after 12 s of the submarine′s tracking and positioning of the enemy war-ship target,the divergence problem occurs for the EKF and the enemy warship target cannot be tracked in real time,but the UKF can still achieve the tracking and positioning of the enemy warship.