Target motion location method based on underwater acoustic detection

Abstract

The invention relates to a target motion location method based on underwater acoustic detection, and belongs to the technical field of target location. The method comprises the following steps: S1, acquiring the time domain waveform data of multi-channel nodes through a plurality of underwater acoustic detection nodes; S2, calculating the time delay difference measurement value according to the cross spectrum function of the time domain waveform between the other nodes and the first node in turn; S3, constructing a Kalman filtering algorithm framework according to the time delay difference measurement value and the target real-time state change information; and S4, performing the difference statistic decision on the statistics of the time delay difference measurement value according to the preset threshold value to improve the Kalman filter algorithm so as to obtain the estimation result of the target motion parameters and then locate the target. The TDONA measurement information and the extended Kalman filtering algorithm are utilized to obtain the target state information in real time, and the information is applied to modify the covariance matrix to quickly realize the target motion parameter estimation so as to better adapt to the motion parameter estimation in the case of high target maneuvering to locate the target motion.

Description

Technical field [0001] The invention relates to the technical field of target positioning, in particular to a target motion positioning method based on underwater acoustic detection. Background technique [0002] Positioning technology is one of the most important technologies for underwater acoustic equipment. At present, with the development of distributed node coordinated localization technology, the use of underwater acoustic networks, the use of target information from various sensors in the network, and the localization after fusion have become a research hotspot and attract attention. Target positioning technologies in the network can be divided into three categories: based on time difference of arrival (TDOA); based on energy information positioning (received signal strength, RSS); based on angle of arrival (angle of arrival, AOA). Since the energy attenuation is large in the underwater acoustic environment, the method based on RSS is not applicable. AOA requires the di...

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Problems solved by technology

[0004] In view of the above analysis, the present invention aims to provide a target motion positioning method based on underwater acoustic detection to solve the problem that the traditional extended Kalman filter algorithm in the existing TDOA positioning technology depends on the initial value, and when the target makes a strong maneuver When , it is usually impossible to make adaptive adjustments in time, which eventually leads to the problem of decreased estimation accuracy or divergence

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