摘要
传统的水下被动测向方法通过波束形成估计目标角度,水平线列阵波束形成中的参考声速应使用声传播的相速度,在被动测向中,由于声源距离未知,因此在对目标角度估计时选取的参考声速与接收阵处的相速度往往存在偏差,从而影响测向精度。该文提出了一种水平线列阵方位-相速度联合的纯方位扩展卡尔曼滤波方法,该方法引入相速度作为估计状态量以此校准参考声速,提高测向精度,进而改善了由于测向误差较大引起的纯方位扩展卡尔曼滤波算法跟踪结果发散的问题。浅海传播条件下的数值仿真结果表明,改进方法较常规纯方位扩展卡尔曼滤波算法具有更高的跟踪精度及稳健的跟踪性能。
The conventional underwater passive direction finding method estimates the target angle through beamforming.The reference sound velocity in horizontal linear array beamforming should use the phase velocity of sound propagation.In passive direction finding,because the target distance is unknown,there is a deviation between the reference sound velocity selected in the target angle estimation and the phase velocity,which affects the direction finding accuracy.In this paper,a bearing only extended Kalman filter method using bearing and phase velocity in horizontal linear array is proposed.In this method,the phase velocity is added as the estimated state quantity to calibrate the reference sound velocity,improve the direction finding accuracy,and then improve the divergence of tracking results of bearings only extended Kalman filter algorithm caused by large direction finding error.The numerical simulation results show that the improved algorithm has higher tracking accuracy and robust tracking performance compared with the conventional bearing-only extended Kalman filter algorithm in shallow sea.
作者
李鑫
郭良浩
章伟裕
徐鹏
陈连荣
段正辰
LI Xin;GUO Lianghao;ZHANG Weiyu;XU Peng;CHEN Lianrong;DUAN Zhengchen(State Key Laboratory of Acoustics,Institute of Acoustics,Chinese Academy of Sciences,Beijing 100190,China;University of Chinese Academy of Sciences,Beijing 100049,China;The 92330th Unit of PLA,Qingdao 266102,China)
出处
《应用声学》
CSCD
北大核心
2023年第3期443-453,共11页
Journal of Applied Acoustics
基金
中国科学院声学研究所自主部署“目标导向”类项目(MBDX202105)
中国科学院青促会项目(E2291103)。
关键词
参考声速
相速度
纯方位扩展卡尔曼滤波
Reference sound velocity
Phase velocity
Bearing-only extended Kalman filter
