基于CRLB的空中目标水下分布式声跟踪算法设计  

Design of Distributed Underwater Acoustic Tracking Algorithm for Aerial Targets Based on CRLB

作　　者：何清林 赵宏宇 陈雨轩 侯翔昊 HE Qinglin;ZHAO Hongyu;CHEN Yuxuan;HOU Xianghao(School of Marine Science and Technology,Northwestern Polytechnical University,Xi'an 710072,Shaanxi,China;Shanghai Electro-Mechanical Engineering Institute,Shanghai 201109,China)

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

出　　处：《空天防御》2025年第1期86-94,共9页Air & Space Defense

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

摘　　要：针对水下预置无人平台对空探测问题,提出一种基于克拉美罗界(Cramer-Rao Lower Bound,CRLB)的空中目标水下分布式声跟踪算法。该算法首先利用水下分布式声纳获取空中目标的辐射噪声,通过信号处理方法获得目标的方位角信息;其次,结合多个水下无人探测平台的纯方位观测量,实现对目标的分布式纯方位跟踪;最后,基于CRLB对水下分布式无人探测系统进行优化,从而提升对空目标跟踪的稳健性。经仿真验证,在典型空—海任务场景下,所提算法跟踪误差低于5%,且具有实时节点调整能力。A distributed acoustic tracking algorithm for underwater targets,employing the Cramer-Rao Lower Bound(CRLB),was proposed in this study to improve air detection for underwater preset unmanned platforms.Firstly,this algorithm employed underwater distributed sonar to capture the radiated noise of aerial targets and applied signal processing methods to acquire the target's azimuth information.Then,integrating the pure azimuth observations from multiple underwater unmanned detection platforms enabled distributed pure azimuth tracking of targets.Finally,the underwater distributed unmanned detection system was optimized using the CRLB to enhance the robustness of air target tracking.Simulation results demonstrate that,in typical air-to-sea mission scenarios,the proposed algorithm successfully achieves a tracking error of within 5%and presents real-time node adjustment capabilities.

关 键 词：纯方位跟踪(EKF) 扩展卡尔曼滤波 波束形成 多目标跟踪 克拉美罗界(CRLB) 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]