基于磁场数据的水中目标航迹解算方法

Method for calculating target tracks in water based on magnetic field data

针对近场水中目标航迹态势感知问题,提出一种基于磁场测量数据的航迹解算方法.根据水中目标特性,分别建立了相应的运动模型和信号模型;在目标航迹接近传感器测量点过程中的不同阶段,将航迹解算问题等效扩展为状态空间内的参数估计问题,构建了基于解析粗估计-批量数据航迹起点回归-卡尔曼滤波实时递推的三级级联结构航迹解算方法.该方法仅需要目标的三轴磁场测量数据即可完成其航迹解算,相比基于声学测量的航迹解算方法具有实施简单,成本低以及近场定位精度较高的优势.分别通过仿真实验对比和实测数据验证表明了本文方法的有效性.

Aiming at the problem of target track situational perception in near-field water,a method of track calculation based on magnetic field measurement data is proposed.According to the target characteristics in water,corresponding motion model and signal model are established.At different stages in the process of the target track approaching the sensor measurement point,the problem of track resolution is equivalently extended to the parameter estimation problem in the state space.Based on analytic rough estimation,batch data of track starting point regression,and Kalman filter real-time recursion,a three-stage parallel structure track solution method is constructed.The method only needs the target's three-axis magnetic field measurement data to complete the track calculation.Compared with the track calculation method which is based on acoustic measurement,it has the advantages of simple implementation,low cost and high accuracy of positioning near-field.Finally,the validity of the method is verified by the simulation experiment and the experimental data.