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针对在水声机动目标定位跟踪领域广泛应用的传统Kalman滤波往往难以实现机动目标运动方向突变情况下的有效跟踪问题,本文通过分析传统Kalman滤波性能下降时机动目标的运动轨迹,并由此根据机动目标运动方向变化量来产生自适应因子以调整Kalman增益。数值仿真和实际海试数据验证表明,本文所提改进的自适应Kalman滤波在机动目标跟踪中不仅能够快速响应机动目标的运动方向突变,而且目标位置跟踪误差较传统方法显著减小,具有稳定、快速的跟踪性能。
Traditional Kalman filtering, which is widely used in underwater acoustic maneuvering target locating and tracking, is often difficult to effectively track maneuvering targets in the event of sudden changes in their direction of motion. This paper analyzes the motion trajectories of maneuvering targets when traditional Kalman filter performance declines, The target movement direction changes to generate the adaptive factor to adjust the Kalman gain. The numerical simulation and actual sea trial data verification show that the improved adaptive Kalman filter proposed in this paper can not only respond rapidly to the maneuvering target moving direction mutation in maneuvering target tracking, but also the target tracking error is significantly reduced compared with the traditional method, Fast tracking performance.