Modeling and Simulation of Target Tracking for Underwater Acoustic Homing Weapon

Target tracking is one of the important directions in the development of modern intellectualized underwater acoustic homing weapon. However, the observation-base is moving and the observation is time-varying when an active acous-tic homing weapon tracks a target. In this study, the parameters of location and attitude from the acoustic homing weapon′s navigation system and the target information detected by the acoustic homing weapon are used to resolve the problem of ob-servation-base movement and time-varying observation. The target coordinates in acoustic homing weapon coordinate systems are transformed to terrestrial coordinate system to resolve the problem of observation-base′s movement, and the sampling time is calculated in real time to resolve the problem of observation′s time-varying. A target tracking model of acoustic homing weapon based on Kalman filter is established. The choosing of filter′s initialization values is analyzed, and the application method of choosing filter initialization values is presented. Simulation results show that the model is accurate, and the tracking algorithm is of faster convergence and better tracking effect.