基于引入多普勒速度的水下高速小目标快速跟踪方法

Fast Tracking Method for Underwater Small Target with High Speed Based on Doppler Velocity Extended Kalman Filter

针对单声呐对单个水下高速小目标的跟踪问题,根据高速近程小目标接近声呐跟踪滤波可利用的数据点少,但产生了较大多普勒速度的特点,通过将目标多普勒速度引入跟踪滤波器的观测方程,提出一种观测方程增加目标多普勒速度的水下快速跟踪方法,克服传统仅基于目标距离和方向角的水下目标跟踪方法可观性差和易发散的不足,实现了少数据点条件下水下目标高精度跟踪,并通过仿真实验,验证方法的可行性和有效性,为相关场景水下目标跟踪提供参考借鉴。

Aiming at the tracking problem of single underwater high-speed small target by single sonar,according to the fact that there are few data points available for high-speed short-range small target approaching sonar tracking filter,but there are more Doppler velocities.By introducing the Doppler velocities of target into the observation equation of tracking filter,an observation equation is proposed to increase the number of targets.Puller velocity dimension underwater fast tracking method overcomes the shortcomings of traditional underwater target tracking method based only on target distance and direction angle,which is poor in observability and easy to diverge,and achieves high precision underwater target tracking under the condition of a few data points.The feasibility and validity of the method are verified by simulation experiments,and it is used for underwater target tracking in relevant scenes.Marker tracking provides reference.