基于主动波导不变量分布的改进扩展卡尔曼滤波跟踪方法  

Improved Extended Kalman Filter Tracking Method Based On Active Waveguide Invariant Distribution

作　　者：孙同晶 朱庆煜 王治撰 SUN Tongjing;ZHU Qingyu;WANG Zhizhuan(Department of Automation,Hangzhou Dian zi University,Hangzhou 310018,China;School of ship and ocean engineering,Shanghai Jiao Tong University,Shanghai 200240,China;Underwater Test and Control Technology Key Laboratory,Dalian 116013,China)

机构地区：[1]杭州电子科技大学自动化学院,杭州310018 [2]上海交通大学船舶与海洋工程学院,上海200240 [3]水下测控技术国防科技重点实验室,大连116013

出　　处：《电子与信息学报》2025年第1期167-177,共11页Journal of Electronics & Information Technology

基　　金：国家自然科学基金联合基金(U22A2044)。

摘　　要：在复杂的海洋环境中,目标的可知信息受环境噪声、混响等的干扰严重,导致目标跟踪效果较差,而从这些干扰中提取目标的可利用特征及其困难。该文将目标与环境的耦合特征融入目标跟踪算法中,提出了一种基于主动波导不变量分布的改进扩展卡尔曼滤波跟踪方法。首先基于浅海波导中目标散射特性基本理论,推导了收发分置条件下的主动波导不变量表征的数学模型,获得了距离、频率以及主动波导不变量分布的约束关系;然后将该约束加入到扩展卡尔曼滤波的状态向量中,通过增加新的约束来提高目标运动模型与真实目标运动轨迹的契合度进而提高目标跟踪的精度;最后通过仿真实验和实测数据验证了该方法的跟踪性能,结果显示:该方法较常规扩展卡尔曼滤波跟踪方法能够更好地提高目标跟踪精度,仿真中结果的优化率约能达到50%,实测数据处理结果的优化率约在60%左右。Objective The complex and variable nature of the underwater environment presents significant challenges for the field of underwater target tracking.Factors such as environmental noise,interference,and reverberation can severely distort and obscure the signals emitted or reflected by underwater targets,complicating accurate detection and tracking efforts.Additionally,advancements in weak target signal technology add further complexity,as they necessitate sophisticated methods to enhance and interpret signals that may be lost amidst background noise.The challenges associated with underwater target tracking are multifaceted.One major issue is the interference that can compromise the integrity and reliability of target information.Another critical challenge lies in the difficulty of extracting useful feature information from the often chaotic underwater environment.Traditional tracking methods,which typically rely on basic signal processing techniques,frequently fall short in addressing these complexities.Underwater tracking technology serves as a cornerstone in several key fields,including marine science,military strategy,and marine resource development.Notably,effective underwater tracking is essential for monitoring,sonar detection,and the deployment of underwater weapons within the military sector.Considering the significance of underwater tracking technology,there is an urgent need for innovative methods to address the existing challenges.Therefore,this paper proposes a unified approach that views the target and environment as an integrated system,extracting coupled features—specifically,active waveguide invariants—and fusing these features into the motion model to enhance underwater tracking capabilities.Methods:This paper presents an enhanced extended Kalman filter tracking method,which is built upon the active waveguide invariant distribution.The mathematical model for active waveguide invariant representation is derived based on the foundational theory of target scattering characteristics in shallow wate

关 键 词：水下目标跟踪 扩展卡尔曼滤波 浅海波导 目标干涉特性 主动波导不变量 

分 类 号：TN011.6[电子电信—物理电子学]