基于一阶差分滤波器的水下目标纯方位角跟踪  

Underwater Target Bearing-Only Tracking Based on First Order Divided Difference Filter

作　　者：王宏健[1] 徐金龙[1] 王奎民[2] 边信黔[1] 

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001 [2]中国人民解放军驻锦州地区军事代表室,锦州121000

出　　处：《中国造船》2013年第3期70-77,共8页Shipbuilding of China

基　　金：国家自然科学基金(No.E091002/50979017);教育部高等学校博士学科点专项科研基金(No.20092304110008);中央高校基本科研业务费专项资金(No.HEUCFZ 1026);哈尔滨市科技创新人才(优秀学科带头人)研究专项资金项目(No.2012RFXXG083);教育部新世纪优秀人才支持计划(No.NCET-10-0053)

摘　　要：在水下目标纯方位角跟踪研究中,针对传统扩展Kalman滤波(EKF)方法需要通过Taylor展开实现非线性项的线性化而导致计算过程繁琐且存在奇点的问题,本文提出一种基于一阶差分滤波器(DDF1)的纯方位角跟踪算法,建立了目标的运动学模型及无源声纳的测量模型;利用Stirling插值法实现非线性项的线性化,进而通过DDF1滤波方法实现对目标位置及速度的跟踪。仿真结果与一致性分析表明,与基于EKF的目标纯方位角跟踪方法相比,论文所提出的算法具有较高的跟踪精度和较好的跟踪性能。In the research of underwater target bearing-only tracking, for solving the problems of complicated calculations and singular points during linearization, which arise in traditional extended Kalman filter （EKF） because of Taylor expansion, a target tracking algorithm based on first order divided difference filter （DDF1） is proposed. Kinematic model of underwater target and measurement model of passive sonar are built. Stifling interpolation is used to the linearization of nonlinear terms. Then tracking position and velocity of the target is realized with DDF1. Both simulation results and consistency test indicate that, under same condition, the proposed beating-only target tracking algorithm based on DDF1 has better precision and performance than the one based on EKF.

关 键 词：纯方位角 目标跟踪 卡尔曼滤波 一阶差分滤波器 一致性 

分 类 号：U666[交通运输工程—船舶及航道工程]