基于自适应波束形成的水下目标高稳健DOA跟踪技术  

Underwater High-robustness Tracking Technology Based on Adaptive Beamforming

作　　者：陈雨轩 赵宏宇 张博轩 侯翔昊 CHEN Yuxuan;ZHAO Hongyu;ZHANG Boxuan;HOU Xianghao(School of Navigation,Northwestern Polytechnical University,Xi'an 710072,China;Shanghai Institute of Mechanical and Electrical Engineering,Shanghai 201109,China)

机构地区：[1]西北工业大学航海学院,西安710072 [2]上海机电工程研究所,上海201109

出　　处：《无人系统技术》2024年第2期82-91,共10页Unmanned Systems Technology

基　　金：国家自然科学基金(12104113);上海航天科技基金资助项目(SAST2022-011);水声技术全国重点实验室稳定支持计划资助(JCKYS2022604SSJS010);中央高校基本科研业务费(D5000230309,D5000230311)。

摘　　要：针对复杂环境下水下目标高稳健方位估计与跟踪问题,基于自适应波束形成与非线性滤波技术,通过对目标可能方位进行自适应跟踪窗口实时构建与非线性实时跟踪迭代反馈,完成水下目标高稳健方位估计与跟踪。首先,基于均匀线性声呐阵列获取目标辐射噪声的阵元域量测信息,并建立水下运动目标的典型运动学模型;其次,基于最小方差无畸变响应的波束形成技术在目标预测方位对阵元域观测进行空域滤波处理,从而提升目标信号信噪比;然后,通过扩展卡尔曼滤波技术对目标方位进行高稳健跟踪,获得目标可能方位与误差,并将其反馈给上述波束形成技术进行自适应跟踪窗口调整,从而完成水下目标高稳健方位估计与跟踪。最后,多次蒙特卡洛仿真实验结果表明,在低信噪比情况下,当传统方位估计与跟踪方法和仅使用阵元域量测的滤波跟踪算法效果不佳或基本失效时,所提算法跟踪结果的平均估计误差仍在0.6°以下,具有较高的准确性和稳定性,从而证明所提算法的稳健性。In complex underwater environments,the issues of high-robustness estimation and Direction of Arrival(DOA)tracking of underwater target bearings are addressed through adaptive beamforming and nonlinear filtering techniques.An adaptive tracking window for potential target bearings is constructed in real time,and nonlinear real-time tracking iterative feedback is provided,enabling high-robustness estimation and tracking of underwater targets to be achieved.Initially,measurements of the target's radiated noise in the element domain are acquired using a uniform linear sonar array,and a typical kinematic model for underwater moving targets is established.Subsequently,the element domain observations at the predicted target bearing undergo spatial filtering using the Minimum Variance Distortionless Response(MVDR)beamforming technique,thus enhancing the signal-to-noise ratio of the target signal.Further,high-robustness tracking of the target bearing is conducted through the Extended Kalman Filter(EKF)technique,yielding the potential target bearing and errors.These are then fed back to the MVDR for adaptive tracking window adjustment,culminating in the high-robustness underwater target DOA tracking.Finally,multiple Monte Carlo simulation experiments indicate that under low signal-to-noise ratio conditions,when traditional DOA tracking methods and filtering tracking algorithms utilizing only element domain measurements perform poorly or fail,the proposed algorithm still maintains an average estimation error below 0.6°,demonstrating high accuracy and stability.Thus,the robustness of the proposed algorithm is proven.

关 键 词：波达角估计 自适应波束形成 卡尔曼滤波 方位跟踪 阵列信号处理 非线性贝叶斯滤波 

分 类 号：TB566[交通运输工程—水声工程]