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Target path tracking method based on active and passive combined sonar array

A target path, active and passive technology, applied in the marine field, can solve the problems of slow motion, inability to recognize and track, small size, etc., and achieve the effect of accurate tracking

Pending Publication Date: 2021-10-22
中船海洋探测技术研究院有限公司 +1
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Problems solved by technology

[0002] Shallow water moving targets refer to various types of man-made aircraft that can move autonomously in water depths less than 10 meters. These targets are small in size and slow in movement speed, and are difficult to be found by shore-based detection facilities, so they cannot be accurately identified and tracked

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  • Target path tracking method based on active and passive combined sonar array
  • Target path tracking method based on active and passive combined sonar array
  • Target path tracking method based on active and passive combined sonar array

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Embodiment Construction

[0046] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0047] This application discloses a target path tracking method based on active and passive combined sonar arrays. The method utilizes active and passive combined sonar arrays composed of multiple sonars to track target paths. Active and passive sonar arranged to form a predetermined array, such as figure 1shown. Among them, each passive sonar corresponds to an omnidirectional beam, which can measure targets within a range of 360 angles. Each active sonar corresponds to at least two directional beams with different detection angle ranges, and each directional beam can only detect targets within the corresponding detection angle range, and at the same time, an active sonar corresponds to all directional beams At most one of the directional beams is working, and the switching time between directional beams is relatively short and negligible,...

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Abstract

The invention discloses a target path tracking method based on an active and passive combined sonar array, which relates to the technical field of ocean. According to the invention, active sonar and passive sonar are combined to discover, monitor and track a tracked target, and the working state of each sonar in the array is comprehensively planned and coordinated so as to reduce mutual interference; during target path tracking, on the basis of measurement data of each sonar in an array, a target motion state is solved through a prior probability-based Kalman fusion estimation filter, and nonlinear characteristics caused by shallow sea environment interference, sensor measurement information asynchronization and system unmodeled dynamics are processed. And the uncertainty and time-varying characteristics of a measurement noise equation matrix in an adaptive factor processing filter are introduced, so that accurate tracking of a moving tracked target can be realized.

Description

technical field [0001] The invention relates to the field of marine technology, in particular to a target path tracking method based on active and passive combined sonar arrays. Background technique [0002] Shallow water moving targets refer to various types of man-made aircraft that can move autonomously in water depths less than 10 meters. These targets are small in size and slow in movement speed, and are difficult to be found by shore-based detection facilities, so they cannot be accurately identified and tracked. Contents of the invention [0003] In view of the above problems and technical requirements, the inventor proposes a target path tracking method based on active and passive combined sonar arrays. The technical scheme of the present invention is as follows: [0004] A target path tracking method based on an active and passive joint sonar array, the method comprising: [0005] During each detection period, the working status of each sonar in the active and pa...

Claims

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Application Information

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IPC IPC(8): G01S15/66G01S15/88
CPCG01S15/66G01S15/88
Inventor 王世瑞姜和俊荣英佼孙广发李梦蕾
Owner 中船海洋探测技术研究院有限公司
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