L2正则化粒子滤波在水下无人平台纯方位角跟踪的应用

Application of L2 regularized particle filter in pure azimuth tracking of underwater unmanned platform

针对水下无人平台搭载单矢量水听器目标跟踪鲁棒性差的问题,提出一种基于L2范数正则化粒子滤波的单站纯方位角度水下目标跟踪算法。该方法引入测量量与预测量误差的规则范数,得到粒子的似然函数,从而平衡测量值与预测值,提高目标跟踪鲁棒性。仿真结果表明,相较于粒子滤波(PF)算法,基于L2范数正则化(L2-RPF)优于基于L1范数正则化(L1-RPF),其目标方位跟踪精度更高,且经过多次Monte Carlo实验得到的L2-RPF目标方位跟踪平均误差和均方根误差均较小。利用水下滑翔机平台搭载单矢量水听器(水下声学滑翔机)在中国南海海域进行探测跟踪的试验数据,对算法性能进行了验证,采用L2-RPF处理得到的目标方位跟踪精度相较于其他算法较高,一定程度上修正了测量野值带来的跟踪误差。

Aiming at the poor target tracking robustness of underwater unmanned platform equipped with a single vector hydrophone,a single-station pure azimuth-angle underwater target tracking algorithm based on L2 norm regularized particle filter is proposed.This method introduces the regular norm of the error between the measured quantity and the predicted quantity,and obtains the likelihood function of the particles,thereby balancing the relationship between the measured value and the predicted value,improving the robustness of target tracking.The simulation results show that compared with the particle filter(PF)algorithm,the target bearing tracking accuracy of L2 norm regularization(L2-RPF)is better than that of L1 norm regularization(L1-RPF);The L2-RPF target bearing tracking average error and root mean square error obtained by Monte Carlo experiment are both small.Using the test data in the South China Sea detected and tracked by the underwater glider platform equipped with single-vector hydrophone(underwater acoustic glider),the algorithm performance was verified,and the target azimuth tracking accuracy obtained by L2-RPF processing is higher compared with others,which corrects the tracking error caused by measurement outliers to a certain extent.