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Underwater multi-sensor cooperative passive tracking method based on dynamic cluster

A passive tracking, multi-sensor technology, used in instruments, measuring devices, mapping and navigation, etc., can solve the problems of low tracking accuracy and high energy consumption, and achieve the effect of ensuring convergence and reducing energy consumption.

Active Publication Date: 2019-03-15
ZHEJIANG UNIV
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Problems solved by technology

[0007] In order to solve the shortcomings of low tracking accuracy and high energy consumption of the existing underwater passive positioning technology, the present invention provides a dynamic cluster-based underwater multi-sensor cooperative target passive tracking method

Method used

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  • Underwater multi-sensor cooperative passive tracking method based on dynamic cluster
  • Underwater multi-sensor cooperative passive tracking method based on dynamic cluster
  • Underwater multi-sensor cooperative passive tracking method based on dynamic cluster

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Embodiment 1

[0022] Embodiment 1. This embodiment proposes a method for passive tracking of underwater multi-sensor cooperative targets based on dynamic clusters, which includes the following steps:

[0023] S1. Cluster member nodes perform local state estimation. At time k, the selected N k According to the cluster head node CH k-1 Predicted value of fusion state And the fusion prediction error covariance P k|k-1 , Respectively use the unscented Kalman filter to obtain the local state estimation of the target at time k And the corresponding error covariance P i,k|k , And send the local state estimation and error covariance to the cluster head node CH at time k k . The specific process of the unscented Kalman filter algorithm is as follows:

[0024] S11, according to the cluster head node CH k-1 Predict the fusion state of the target at time k And prediction error covariance P k|k-1 , Use UT transform to obtain 2n+1 sigma sampling points, and calculate the corresponding weights of the sam...

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Abstract

The invention discloses an underwater multi-sensor cooperative passive tracking method based on a dynamic cluster. According to the method, a distribution type fusion estimation process with feedbackis introduced into a target tracking process, and a linear minimum variance fusion criterion weighted by a scalar quantity is used for minimizing a trace of fusion error covariance by utilizing components, and the optimal fusion state estimation is achieved. A dynamic clustering process selected based on adaptive nodes is used for dynamically selecting cluster head nodes and cluster member nodes which are involved in the passive target tracking process, wherein the selection of the cluster head nodes is mainly started from the view of energy; and the selection of the cluster member nodes is that an objective function is constructed by using utility functions and cost functions, the node selection problem is classified as a knapsack problem in mathematics, and finally a dynamic programmingmethod is used for selecting an optimal node combination to achieve the maximization of the objective function. By adopting the method, the convergence of the accuracy of the passive target tracking can be guaranteed and the energy consumption of the network in the passive tracking process can be effectively reduced.

Description

Technical field [0001] The invention relates to the technical field of underwater target passive tracking, in particular to target passive tracking technology, multi-sensor information fusion technology and dynamic planning technology, and is an underwater multi-sensor cooperative passive tracking method based on dynamic clusters. Background technique [0002] The ocean is an important base for human beings to survive and multiply and to achieve sustainable development of society. The ocean is not only rich in biological and mineral resources, but also a strategic space for sustainable economic development. At the same time, the ocean is also an important protective barrier for our national security. In recent years, the competition between my country and neighboring countries in territorial sea sovereignty and marine resource development has become increasingly fierce. The research on underwater target tracking technology is in the acquisition of marine information, environmental...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/20
CPCG01C21/005G01C21/20
Inventor 刘妹琴韩学艳张森林樊臻郑荣濠
Owner ZHEJIANG UNIV
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