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Bearing-only underwater target tracking algorithm based on multilevel information fusion

An underwater target and tracking algorithm technology, applied in radio wave measurement systems, instruments, etc., can solve the problem of target tracking accuracy reduction and achieve high filtering accuracy

Inactive Publication Date: 2017-09-22
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

However, due to the low amount of observations, the target tracking accuracy is reduced, so the underwater target tracking through multi-UUV cooperation is the focus of research.

Method used

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  • Bearing-only underwater target tracking algorithm based on multilevel information fusion
  • Bearing-only underwater target tracking algorithm based on multilevel information fusion
  • Bearing-only underwater target tracking algorithm based on multilevel information fusion

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Embodiment Construction

[0058] Embodiments of the present invention are described in detail below, and the embodiments are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0059] This embodiment studies the target tracking problem in the process of multi-UUV cooperative operations, and designs a multi-level information fusion azimuth-only underwater target tracking algorithm LS-AFIMM-PF. The first layer uses the least square method (Least Square, LS) to initially track and locate the target, and calculates its estimated state value as the input value of the second layer AFIMM; the second layer designs a fuzzy adaptive multi-interaction model AFIMM (Adaptive Fuzzy Interacting Multiple Model), optimize the design of the AFIMM motion model set, and propose a fuzzy adaptive model transition probability method; in the third layer, a resampling particle filter (Particle Filter, PF) is designed as the iterative filtering structure of each...

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Abstract

The invention provides a bearing-only underwater target tracking algorithm based on multilevel information fusion. Three levels are divided. In the first level, a least square method is used for initially tracking and positioning a target, and the estimated state value is calculated as an input value of a second-level AFIMM (Adaptive Fuzzy Interacting Multiple Model). In the second level, the AFIMM is designed, the motion model set of the AFIMM is designed optimally, and a method of a fuzzy adaptive model transition probability is brought forward. In the third level, resampling particle filter is designed as an iterative filtering structure at each step for the AFIMM, and information fusion is realized. During the bearing-only target tracking process for a multi-UUV (underwater unmanned vehicle) cooperative system, through the design of the multilevel information fusion framework, the filter accuracy is higher, and the target of multi-UUV cooperative underwater target tracking can be met.

Description

technical field [0001] The invention belongs to the field of underwater target tracking, in particular to an azimuth-only underwater target tracking algorithm of multi-level information fusion. Background technique [0002] Underwater target tracking is mainly divided into two ways according to the working mode of sensors such as sonar: active and passive. The active detection method mainly uses the underwater sensor to actively send detection signals to obtain the target motion parameters, but this method is easy to be obtained by the enemy's detection equipment due to the underwater signal radiated to the outside world, and the concealment is weak; Passive reception of radiated noise to obtain target motion parameters, due to its concealment and anti-interference, is currently the most important way for long-distance concealed detection and tracking of underwater targets. ) plays an important role in detection performance and survivability. [0003] Among them, bearing-o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/539
CPCG01S7/539
Inventor 梁洪涛康凤举张建春汪小东
Owner NORTHWESTERN POLYTECHNICAL UNIV
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