Underwater sound multi-target autonomous detection and orientation tracking method

A target orientation and multi-target technology, applied in the field of underwater acoustic multi-target autonomous detection and azimuth tracking, can solve the problems of multiple target azimuths approaching each other, uncertain interruptions and outliers, track intersections, etc.

Inactive Publication Date: 2015-06-24
INST OF ACOUSTICS CHINESE ACAD OF SCI
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Problems solved by technology

[0008] The purpose of the present invention is to overcome the uncertain interruption and outliers in the azimuth history caused by the complexity of the underwater acoustic environment in the process of multi-target tracking without human intervention, and the problems that the azimuths of multiple targets are close to each other or even track crossing , thus proposing an underwater acoustic multi-target autonomous detection and azimuth tracking method without human intervention

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  • Underwater sound multi-target autonomous detection and orientation tracking method
  • Underwater sound multi-target autonomous detection and orientation tracking method
  • Underwater sound multi-target autonomous detection and orientation tracking method

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Embodiment Construction

[0092] The specific embodiment of the present invention will be further described in detail below in conjunction with the test data on a certain lake and the accompanying drawings.

[0093] The azimuth course obtained by processing the sonar of an unmanned aerial vehicle as input data, as attached Figure 4 As shown, the time length of each shot of data is 68ms, the duration of the entire data is 300s, and a total of 4410 shots of beam data.

[0094] The multi-target azimuth tracking method without manual intervention is used to carry out autonomous azimuth tracking on this piece of data. The specific steps are as follows:

[0095] Step 1: The current moment is t k , the beam curve is denoted as B i (t k )(i=1,2,…,180°), it performs autonomous orientation detection. First calculate the mean E[B of the beam curve i (t k )] and variance δ[B i (t k )], and then calculate each orientation detection coefficient

[0096] DT [ B ...

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Abstract

The invention relates to an underwater sound multi-target autonomous detection and orientation tracking method. According to the method, a two-dimensional cache array is set to store target tracks and is used for predicating the orientation of the next moment of the target and performing data association with detection values, and therefore stable and accurate continuous target orientation information can be obtained by combining data association and an orientation preset tracking algorithm. The method concretely includes the steps of autonomous orientation detection, orientation predication, orientation association, target judgment, and repetition of the steps. The method overcomes the defects of uncertain interruption and outliers, caused by underwater sound environment complexity, of an orientation course, and mutual approaching of orientations of multiple targets even track intersection in the multi-target tracking process without manual intervention. The method can be directly applied to an unattended sonar system like an underwater unmanned aircraft detecting sonar system.

Description

technical field [0001] The invention belongs to the field of sonar digital signal processing, and particularly relates to a method for underwater acoustic multi-target autonomous detection and azimuth tracking without human intervention, which can be directly used in unattended sonar systems, such as underwater unmanned vehicle detection sonar Wait. Background technique [0002] After the underwater detection sonar obtains the beam curve, it needs to detect the target and continuously track the target azimuth to obtain stable and accurate continuous target azimuth information, that is, to obtain the stable track of the target. In the prior art, the conventional method is to manually set the detection threshold, adjust it in real time according to the actual situation, and correct the target tracking result in real time to ensure that the target detection and tracking are stable and correct. [0003] According to the working environment and real-time characteristics of the u...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S15/66
CPCG01S15/66
Inventor 李峥黄海宁李宇
Owner INST OF ACOUSTICS CHINESE ACAD OF SCI
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