基于纯方位角的水下多目标融合跟踪方法  

Underwater Multi-target Fusion Tracking Method Based on Bearing-only

作　　者：卢烨彬 徐海祥[1,2] 冯辉[1,2] 王晓乾 龚锐 周志杰 LU Yebin;XU Haixiang;FENG Hui;WANG Xiaoqian;GONG Rui;ZHOU Zhijie(School of Naval Architecture,Ocean and Energy Power Engineering,Wuhan University of Technology,Wuhan 430063,China;Key Laboratory of High Performance Ship Technology,Wuhan University of Technology,Wuhan 430063,China;The 701 Research Institute,China State Shipbuilding Corporation Limited,Wuhan 430063,China)

机构地区：[1]武汉理工大学船海与能源动力工程学院,武汉430063 [2]武汉理工大学高性能船舶技术教育部重点实验室,武汉430063 [3]中国船舶集团有限公司第701研究所,武汉430063

出　　处：《武汉理工大学学报(交通科学与工程版)》2025年第1期59-65,共7页Journal of Wuhan University of Technology(Transportation Science & Engineering)

基　　金：国家自然科学基金(51979210,51879210)。

摘　　要：文中提出了一种基于多层次联邦数据关联的水下纯方位角多目标融合跟踪方法.将所有纯方位角观测平台两两组合作为子跟踪器,并分别采用基于KM(kuhn-munkres)算法的多目标跟踪算法获得包括真实目标和虚假定位点在内的所有航迹,采用联邦数据关联算法从所有航迹中融合出真实目标的航迹,结果表明:该方法不仅有效降低了虚假定位点带来的负面影响,同时提高了系统的准确性和稳定性.An underwater bearing-only multi-target fusion tracking method based on multi-level federated data association was proposed.Pairs of all bearings-only observation platforms were used as sub-trackers,and all tracks including real targets and false positioning points were obtained by using multi-target tracking algorithm based on KM(kuhn-munkres)algorithm.The federated data association algorithm was used to fuse the real target’s tracks from all the tracks.The results show that this method not only effectively reduces the negative impact caused by false positioning points,but also improves the accuracy and stability of the system.

关 键 词：纯方位角 多传感器融合 多目标跟踪 数据关联 航迹管理 

分 类 号：U675.79[交通运输工程—船舶及航道工程]