UUV靶场试验非同步水下被动声学跟踪算法

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Algorithm of Underwater Passive Target Tracking and Experimental Research Based on Asynchronous Beacon in UUV Range Test

1.
Unit 91388,The People′s Liberation Army of China, Zhanjiang 524022,China
2.
College of Marine Engineering, Northwestern Polytechnical University, Xi′an 710072,China
3.
The 705 research Institute, China Shipbuilding Industry Corporation, Xi′an 710075,China

摘要: 在无人水下航行器（UUV）正式投入使用前，需要一系列的海上考核与验收，传统的合作式目标水下测量方法不利于远距离目标航行轨迹的监测。该文提出了一种新的靶场UUV水下跟踪方法，利用全球定位系统（GPS）确定初位置，并利用UUV上的固定连续声学发射频率信息，采用伪线性Kalman滤波进行UUV运动状态参量估计，对UUV进行了跟踪，给出了运动状态跟踪算法，并进行了仿真研究，研究结果表明，该方法可以很好地跟踪水下UUV的运动轨迹。
- 无人水下航行器（UUV) /
- 靶场试验 /
- 伪线性Kalman滤波 /
- 参量估计 /
- 水下测量 /
- 跟踪算法
Abstract: Conventional cooperative underwater measuring method is not sufficient for long-range monitoring of trace in the evaluation and acceptance trial of unmanned underwater vehicle (UUV). We present a new method by obtaining initial position and frequency information which are derived from the global positioning system(GPS) and acoustical transmitter of UUV to estimate UUV motion state parameters with PLE-Kalman algorithm. A tracking algorithm of motion state is proposed by following UUV trace. Simulation results show that the present method can track underwater motion trace of UUV perfectly.
- unmanned underwater vehicle(UUV) /
- range test /
- PLE-Kalman filter /
- parameter estimation /
- underwater measuring /
- tracking algorithm

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