声自导鱼雷目标跟踪误差仿真与分析

Target Tracking Error Simulation and Analysis of Acoustic Homing Torpedo

主动声自导鱼雷目标跟踪具有观测基座运动和观测时变的特点,采用Kalman滤波方法进行目标跟踪时,需要利用鱼雷航行姿态参数和鱼雷检测目标信息,通过坐标变换将鱼雷检测目标的坐标从鱼雷坐标系变换到大地坐标系,因此自导系统检测误差和导航定位系统航姿误差均对跟踪性能有一定影响。文中分析了主动声自导鱼雷目标跟踪误差来源及传递途径,分别对偏航角误差、雷速误差及检测误差进行了跟踪性能仿真分析。仿真结果表明,偏航角误差对目标速度估计及航向角估计影响不大;雷速误差线性传递至目标,速度估计误差与雷速误差相等,雷速误差对航向无影响;检测误差经过滤波可以基本消除,运动参数经过多拍滤波后能有效逼近真值。

Active acoustic homing torpedo target tracking exhibits the characteristics of base motion and time-varying observation.When using the Kalman filtering method to track the target,it is necessary to use the torpedo navigation attitude parameters and torpedo detection target information as well as transform the torpedo detection target coordinate from the torpedo coordinate system to a geodetic coordinate system through coordinate transformation.Therefore,the detection error of the homing system and the attitude error of the navigation and positioning system affect the tracking performance.Herein,the source and transmission paths of the target tracking error of an active acoustic homing torpedo are analyzed.The tracking performances of the yaw angle error,torpedo speed error,and detection error are simulated and analyzed.The simulation results show that the yaw angle error does not significantly affect the target speed estimation and course angle estimation.The torpedo speed error is linearly transmitted to the target,the velocity estimation error is equal to the torpedo speed error,and the torpedo speed error does not affect the course.The detection error can be eliminated via filtering,and the motion parameters can effectively approximate the true value after multibeat filtering.