Passive ranging of a moving sound source using three-dimensional measured information

To solve the problem of passive ranging of a moving sound source,a method of estimating the initial distance of target is presented by using the measured information of target azimuth,Doppler frequency shift and distance characteristic quantity.Through pseudo linearization,a linear model with heteroscedasticity is constructed.The system can uniquely determine the distance,velocity and course of a non-radial moving sound source target by using the observed information of three target bearings,two Doppler frequency shifts and two distance characteristic quantities,but the system is unobservable only by using the observed information of the target azimuth and distance characteristic quantity under the condition that the sonar platform moves in a straight line.Under the condition that the initial distance is 5 n mile,the Monte Carlo simulations show that the average convergence time of the three-dimensional information measured method is about 200 s less than that of the reference method,and the standard deviation of the convergence time is about 40 s less.Increasing the initial distance between the target and the sonar platform,the average convergence time difference between the two methods tends to increase,which means the robustness of the three-dimensional information construction method is better than that of the reference method.The experimental data further verify that the estimation of target distance tends to converge in about 300 s.Therefore,this method can realize passive ranging of a moving sound source under the condition of stable interference structure.