基于双向拟合滤波的无人艇水面目标保距跟踪算法研究  

Distance-keeping tracking algorithm of surface targets for USV based on bidirectional fitting filtering

作　　者：史晓骞 许嘉[4] 陈侯京 王幸 胡为正 宋利飞 SHI Xiaoqian;XU Jia;CHEN Houjing;WANG Xing;HU Weizheng;SONG Lifei(Key Laboratory of High Performance Ship Technology(Wuhan University of Technology),Ministry of Education,Wuhan 430063,China;Yichang Testing Technique Research Institute,Yichang 443003,China;School of Naval Architecture,Ocean and Energy Power Engineering,Wuhan University of Technology,Wuhan 430063,China;China Ship Development and Design Center,Wuhan 430064,China)

机构地区：[1]高性能船舶技术教育部重点实验室(武汉理工大学),湖北武汉430063 [2]宜昌测试技术研究所,湖北宜昌443003 [3]武汉理工大学船海与能源动力工程学院,湖北武汉430063 [4]中国舰船研究设计中心,湖北武汉430064

出　　处：《中国舰船研究》2025年第1期125-134,共10页Chinese Journal of Ship Research

基　　金：中国舰船研究设计中心自主研发项目(WR202207)。

摘　　要：[目的]针对无人艇在对水面移动船舶进行保距跟踪过程中,由于目标摆脱运动度大且环境中定位精度不足,导致跟踪过程中出现振动与滞后问题,开展无人艇跟踪策略的研究。[方法]首先采用基于多项式和粒子群的双向拟合算法对雷达采样数据进行误差消除;然后基于无人艇与动态目标船的运动态势,以无人艇保距稳定跟踪为导向,规划无人艇航速航向。[结果]实艇试验结果表明,经双向拟合算法滤波后的数据更平滑,符合船舶运动规律;无人艇基于规划的航速航向可稳定跟踪目标船。[结论]该方法能有效满足无人艇稳定跟踪需求,对单目标跟踪具有良好的效果。[Objective]Maintaining consistent tracking of surface ships using unmanned surface vehicles(USVs)is particularly challenging due to the target's high maneuverability and complex motion trajectories.Additionally,environmental interferences in marine environments further complicate the task by reducing positioning accuracy.These issues often lead to tracking vibrations and delays,significantly impacting stability and precision.To address these challenges,this study proposes innovative solutions to improve the performance of USVs in maintaining effective target tracking.[Methods]This study presents an advanced bidirectional fitting algorithm integrating polynomial fitting and particle swarm optimization(PSO)to address radar sampling errors.By systematically analyzing the correlation between target motion amplitude and radar observation errors,the sampling period is optimized to accurately capture the target's motion patterns.Additionally,the optimal number of sampling points is carefully determined.Polynomial fitting is initially applied to minimize longitudinal errors,followed by secondary horizontal error reduction using PSO.A penalty function is incorporated to impose strict constraints on the fitting range,ensuring that corrected coordinates align with the actual motion capabilities of the target ship.Furthermore,real-time motion data from the USV and the target ship,including target speed,separation distance,and USV performance parameters,are used to develop a robust speed strategy.Geometric methods combined with USV turning dynamics are used to formulate a precise course strategy,enabling optimal speed and trajectory planning.[Results]Rigorous validation through realvessel experiments shows that the radar data processed with the bidirectional fitting algorithm achieves significantly enhanced smoothness,closely aligning with the ship's actual motion patterns.Moreover,the USV consistently and accurately tracks the target ship by following the optimized speed and course strategies.Vibrations and delays are effect

关 键 词：目标跟踪 运动规划 无人艇 双向拟合算法 保距跟踪 操纵性 

分 类 号：U666.1[交通运输工程—船舶及航道工程] U674.91[交通运输工程—船舶与海洋工程]