Target Tracking Error Simulation and Analysis of Acoustic Homing Torpedo

Active acoustic homing torpedo target tracking exhibits the characteristics of base motion and time-varying observation. When using the Kalman filtering method to track the target, it is necessary to use the torpedo navigation attitude parameters and torpedo detection target information as well as transform the torpedo detection target coordinate from the torpedo coordinate system to a geodetic coordinate system through coordinate transformation. Therefore, the detection error of the homing system and the attitude error of the navigation and positioning system affect the tracking performance. Herein, the source and transmission paths of the target tracking error of an active acoustic homing torpedo are analyzed. The tracking performances of the yaw angle error, torpedo speed error, and detection error are simulated and analyzed. The simulation results show that the yaw angle error does not significantly affect the target speed estimation and course angle estimation. The torpedo speed error is linearly transmitted to the target, the velocity estimation error is equal to the torpedo speed error, and the torpedo speed error does not affect the course. The detection error can be eliminated via filtering, and the motion parameters can effectively approximate the true value after multibeat filtering.