A target motion element solution system for underwater moving platform

Abstract

The application provides a target motion element solving system for an underwater motion platform, and belongs to the field of underwater target tracking. In order to solve the problem that the existing motion platform cannot reasonably and effectively analyze command and control information and navigation information during underwater navigation, the solving result is poor, and the situation display of both sides is not intuitive, the application is connected by an Ethernet connection sending system, the analysis and evaluation of the command and control information and the navigation information, the target motion element solving and the target route deduction display are realized by the solving system. The application can effectively detect the rationality of the command and control information and the navigation information and the effectiveness of the solving algorithm; in addition, the system also flexibly adapts to the algorithm verification demand under different target detection scenes, intuitively displays the situation between the target and the underwater motion platform in the simulation process, and presents the solving result in the form of a table and a curve, so that the user can more conveniently verify the rationality and correctness of the command and control information, the navigation information and the solving algorithm.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater target tracking, in particular to a target motion element solving system for underwater moving platform. BACKGROUND

[0002] Passive sonar detection azimuth is used to track and locate underwater and surface targets, which is the key to improving underwater security defense capability. However, the detection accuracy of passive sonar is usually affected by the underwater environment. The propagation of sound in water is affected by factors such as water temperature, salinity and water flow. These factors cause loss of sound propagation and may affect the target azimuth detection accuracy of passive sonar. This is because the change of water temperature and salinity will cause the change of sound velocity, and the water flow will disturb the propagation path of sound wave.

[0003] In the case where the position and heading, speed and other situation information of the target are unknown, the solving system of the present application can obtain the target motion elements in real time during the navigation of the underwater moving platform, and make up for the blank that no solving system can meet the above-mentioned needs. In addition, the prior art is difficult to verify the effectiveness of the algorithm for different scenes, and it is difficult to effectively analyze the rationality and correctness of the command and control information and navigation information, and the solving result is general, and the problem of not intuitive display of the situation of both sides. SUMMARY

[0004] The technical problem to be solved by the present application is:

[0005] In order to solve the problem that there is no solving system to obtain target motion elements in real time during the navigation of the existing moving platform under water, it is difficult to reasonably and effectively analyze the command and control information and navigation information, the solving result is not good, and the situation of both sides is not intuitive.

[0006] The technical scheme adopted by the present application to solve the above technical problem is:

[0007] The present application provides a target motion element solving system for underwater moving platform, which comprises a network communication module, a system operation module, a man-machine interaction module and a system monitoring module,

[0008] The network communication module is used for real-time communication, including receiving real-time issued command and control information and navigation information, and sending the received original information to the system operation module;

[0009] The system operation module is used for drawing a curve to display in real time after data interpolation and smoothing processing of the command and control information and navigation information received in real time through the network communication module, including analyzing and displaying recommended heading information after combining with the heading history data, and predicting the target situation information after losing the shot;

[0010] The system operation module comprises a data analysis sub-module, a data processing sub-module and a target solving sub-module, the data analysis subsystem is used for receiving data in real time, drawing the received command information and navigation information into a curve for real-time display, and analyzing and evaluating the received real-time data, and then forming a heading suggestion display and sending the analysis and evaluation results to the data processing sub-module and the target solving subsystem; the data processing sub-module is used for receiving data in real time, processing the real-time received data according to the analysis and evaluation results of the data analysis sub-module, including predicting, interpolating and smoothing the missing shot azimuth information, and predicting the target situation information after missing shot, the situation information including azimuth, position coordinates, heading and speed; the target solving subsystem is used for solving the distance, speed and heading of the target according to the scene configuration, underwater motion platform situation information and target azimuth information, and storing and demonstrating the target solving results;

[0011] The human-computer interaction module is used for realizing the interaction function between the operator and the solving system, including inputting parameters on the display interface, obtaining evaluation results and real-time data;

[0012] The system monitoring module is used for ensuring the normal operation of the solving system.

[0013] Further, the network communication module comprises a command information and navigation information data receiving sub-module, a command information and navigation information network state display sub-module and a target motion element solving result sending sub-module, the command information and navigation information data receiving sub-module is used for sending the decoded command information and navigation information to the system operation module; the command information and navigation information network state display sub-module is used for displaying the analysis results of the system operation module in a graphical manner; the target motion element solving result sending sub-module is used for sending the target motion elements solved by the system operation module to the evaluation system to realize result evaluation.

[0014] Further, the data analysis sub-module comprises a command information and navigation information analysis and evaluation unit, an underwater motion platform heading suggestion unit and a command information and navigation information curve display unit.

[0015] Further, the command information and navigation information analysis and evaluation unit is used for evaluating the received real-time data under the consideration of including azimuth angle noise and network communication fluctuation interference, the evaluation results including the length, validity and rationality of the data, and then sending the analysis and evaluation results to the underwater motion platform heading suggestion unit, the command information and navigation information curve display unit, the data processing sub-module and the target solving sub-module;

[0016] The underwater motion platform heading suggestion unit combines the evaluation result of the data analysis submodule with the heading history data of the underwater motion platform to give recommended heading information on the main interface;

[0017] The command information and navigation information curve display unit is configured to draw the data sent by the command information and navigation information analysis and evaluation unit into a curve for real-time display.

[0018] Further, the data processing submodule includes a data interpolation unit, a dead reckoning unit, a data smoothing unit, and a smoothing result display unit,

[0019] The data interpolation unit is configured to interpolate the azimuth angle data transmitted by the dead reckoning unit to ensure that the interpolated azimuth data matches the position, heading, and speed information in the navigation data.

[0020] The dead reckoning unit is configured to analyze the historical data received before when the command information and navigation information analysis and evaluation unit gives the command information and navigation information that exist missing shot phenomenon, and predict the missing shot data, including the situation information.

[0021] The data smoothing unit is configured to use a real-time smoothing algorithm with a backtracking function to smooth the received azimuth angle information and draw it into a curve, and send it to the smoothing result display unit and the target solving evaluation submodule.

[0022] The smoothing result display unit is configured to display the smoothing data curve and display it simultaneously with the original data.

[0023] Further, the target solving evaluation submodule includes a target solving result evaluation unit, a target solving storage unit, and a simulation deduction display unit,

[0024] The target solving result evaluation unit is configured to solve the distance, speed, and heading of the target according to the detection scene configuration, the underwater motion platform situation information, and the target azimuth information, and send the target solving result to the target solving result storage unit, the simulation deduction display unit, and the evaluation platform.

[0025] The target solving storage unit is configured to classify the solving results of the target solving result evaluation unit according to different solving methods and store them in a text document in real time.

[0026] The simulation deduction display unit is configured to display the two-dimensional target detection and tracking environment in the simulation process, display the underwater motion platform situation and target situation solving result in the target tracking scene simulation deduction process, and display the target route deduction.

[0027] Further, the main interface of the human-computer interaction module comprises four buttons of filter initial value setting, state estimation setting, all calculation results and reset key, and a communication interruption upper limit input box.

[0028] Further, when the calculation system is opened, the system monitoring system records and monitors the current running state of the calculation system in real time, when data anomaly is found in the operation process, the system monitoring module sets the corresponding data state value as invalid, when unstable or external factors cause the calculation system to appear flashing, the system monitoring module records the state information of each module, submodule and unit of the current system and saves the data, and then restarts the calculation system immediately.

[0029] Compared with the prior art, the beneficial effects of the present application are:

[0030] The target motion element calculation system for the underwater motion platform can verify the target tracking process and information interaction of the underwater unmanned platform, has good scalability, can effectively detect the rationality of command and control information and navigation information and the effectiveness of the calculation algorithm, in addition, the system also flexibly adapts to the algorithm verification demand under different target detection scenes, intuitively displays the situation of the target and the underwater motion platform in the simulation process, and presents the calculation results in the form of table and curve, this feature makes the user more convenient to verify the rationality and correctness of the command and control information, navigation information and calculation algorithm, fills the blank of the current underwater motion platform calculation system. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is a structure schematic diagram of the target motion element calculation system for the underwater motion platform in the embodiment of the present application;

[0032] Figure 2 It is a flow chart of the network communication module in the embodiment of the present application;

[0033] Figure 3 It is a flow chart of the system operation module in the embodiment of the present application;

[0034] Figure 4 It is a flow chart of the human-computer interaction module in the embodiment of the present application;

[0035] Figure 5 It is a flow chart of the system monitoring module in the embodiment of the present application;

[0036] Figure 6 It is a main interface diagram of the calculation system in the embodiment of the present application;

[0037] Figure 7 It is a network configuration interface diagram of the calculation system in the embodiment of the present application;

[0038] Figure 8This is a diagram of the communication information prompt interface of the solution system in an embodiment of the present invention;

[0039] Figure 9 This is a diagram of the command and control and navigation information display interface of the solution system in an embodiment of the present invention;

[0040] Figure 10 This is a diagram showing the data smoothing results of the solution system in an embodiment of the present invention.

[0041] Figure 11 This is a diagram showing the solution result curve of the solution system in an embodiment of the present invention.

[0042] Figure 12 This is a diagram of the initial filtering value setting interface of the solution system in an embodiment of the present invention;

[0043] Figure 13 This is a diagram of the state estimation settings interface of the solution system in an embodiment of the present invention;

[0044] Figure 14 This is a diagram of the interface for displaying the solution results of the solution system in this embodiment of the invention;

[0045] Figure 15 This is a diagram of the system monitoring interface of the calculation system in an embodiment of the present invention. Detailed Implementation

[0046] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0047] Specific Implementation Plan 1: Combining Figure 1 As shown, this invention provides a target motion element calculation system for underwater motion platforms, including a network communication module, a system computing module, a human-computer interaction module, and a system monitoring module.

[0048] The network communication module is used to receive real-time command and control information and navigation information, and send the received raw information to the system computing module.

[0049] The network communication module includes a command and control information and navigation information data receiving submodule, a command and control information and navigation information network status display submodule, and a target motion element calculation result sending submodule. The command and control information and navigation information data receiving submodule decodes the command and control information and navigation information and sends it to the system computing module. The command and control information and navigation information network status display submodule displays the analysis results of the system computing module graphically, providing a clear and intuitive reflection of the real-time network communication status. The target motion element calculation result sending submodule transmits the target motion elements calculated by the system computing module to other existing evaluation systems via broadcast communication for result evaluation.

[0050] The system computing module is used to transmit the command and control information and navigation information received in real time through the network communication module to the three sub-modules of data analysis, data processing and target calculation in the system computing module, and provides a variety of information display functions. The data analysis sub-module can analyze and display recommended heading information by combining heading history data; the data processing sub-module and the target calculation sub-module integrate multiple algorithms, and can plot the calculation results of different algorithms as curves, and perform operations such as display, hiding, dragging and zooming in real time.

[0051] The data analysis subsystem receives data in real time, considers interference factors, plots the received command and control information and navigation information as curves for real-time display, analyzes and evaluates the received real-time data, generates a heading suggestion display based on the analysis and evaluation results, and sends the analysis and evaluation results to the data processing submodule and the target calculation subsystem. The data processing submodule receives data in real time and processes the received data based on the analysis and evaluation results of the data analysis submodule, including predicting, interpolating, and smoothing the azimuth information of lost shots, and can also predict the target situation information after the loss of shots, including azimuth, position coordinates, heading, and speed. The target calculation subsystem calculates the distance, speed, and heading of the target based on the scene configuration, the underwater motion platform situation information, and the target azimuth information, stores and displays the target calculation results, and also supports sending the calculation results to other platforms in real time for other processing.

[0052] The human-computer interaction module is used to realize the interaction function between the operator and the solution system, including inputting parameters on the display interface, obtaining evaluation results and real-time data;

[0053] The system monitoring module is used to ensure the normal operation of the calculation system.

[0054] For the network communication module:

[0055] The command and control information and navigation information data receiving submodule receives the command and control information and navigation information sent by the sending system in real time, and sends the received information to the data analysis submodule, data processing submodule and target calculation submodule of the calculation system.

[0056] The command and control information and navigation information network status display submodule is used to display the analysis results of the data analysis submodule in a graphical manner, so as to intuitively reflect the real-time network communication status.

[0057] The target motion element solution result sending submodule is used to send the target motion elements solved by the target solution submodule to other existing evaluation systems through broadcast communication to achieve result evaluation; if target true value data exists, this system can perform local evaluation of the solution result through the target solution result evaluation unit in the target solution subunit.

[0058] For the system's computing module:

[0059] The data analysis submodule includes a command and control information and navigation information analysis and evaluation unit, an underwater motion platform heading suggestion unit, and a command and control information and navigation information curve display unit.

[0060] The command and control information and navigation information analysis and evaluation unit is used to evaluate the received real-time data, taking into account factors such as azimuth noise and network communication fluctuation interference. The evaluation results include the length, validity and rationality of the data. The analysis and evaluation results are then sent to the underwater motion platform heading suggestion unit, the command and control information and navigation information curve display unit, the data processing submodule and the target calculation submodule.

[0061] The underwater motion platform heading suggestion unit combines the evaluation results of the data analysis submodule with the historical heading data of the underwater motion platform to provide recommended heading information on the main interface;

[0062] The command and control information and navigation information curve display unit is used to plot the data sent by the command and control information and navigation information analysis and evaluation unit into curves and display them in real time.

[0063] The data processing submodule includes a data interpolation unit, a dead reckoning unit, a data smoothing unit, and a smoothing result display unit.

[0064] The data interpolation unit is used to interpolate the azimuth data transmitted from the dead reckoning unit to ensure that the interpolated azimuth data matches the position, heading and speed information in the navigation data one by one.

[0065] The dead reckoning unit is used to analyze previously received historical data and predict the situation information such as azimuth, position, heading, and speed of the underwater moving platform when the command and control information and navigation information analysis and evaluation unit indicates that there is a loss of command and control information and navigation information.

[0066] The data smoothing unit is used to use a variety of existing real-time smoothing algorithms with backtracking function to smooth the received azimuth information and draw it into a curve, and send it to the smoothing result display unit and the target solution evaluation submodule.

[0067] The smoothing result display unit is used to display the smoothed data curve, and it is displayed simultaneously with the original data.

[0068] The target solution evaluation submodule includes a target solution result evaluation unit, a target solution storage unit, and a simulation and display unit.

[0069] The target calculation result evaluation unit is used to calculate the distance, speed and heading of the target based on different detection scenario configurations, underwater motion platform situation information and target orientation information, and send the target calculation result to the target calculation result storage unit, simulation and display unit and evaluation station;

[0070] The target solution storage unit is used to classify the solution results of the target solution result evaluation unit according to different solution methods and store them in a text document in real time.

[0071] The simulation and display unit is used to display the two-dimensional target detection and tracking environment during the simulation process, and to display the situation of our underwater moving platform and the target situation calculation results, as well as the target route simulation during the target tracking scenario simulation.

[0072] Specific Implementation Plan Two: Combining Figures 6 to 15 As shown, the present invention provides an operation method for a target motion element calculation system for underwater moving platforms, comprising the following steps:

[0073] S100, combined Figure 6 As shown, open the target motion element calculation system program for the underwater motion platform;

[0074] S200, combined Figure 7 As shown, first, by clicking the "Network Environment Configuration" button, the network communication port is configured. Then, the network communication module checks whether it has received command and control information and navigation information according to the communication protocol, i.e., whether a transmission link has been established. If received, the network communication module will decode the command and control information and navigation information and transmit the decoded data to the system computing module. If not received, the port is reconfigured until the command and control information and navigation information are received.

[0075] S300, combined Figure 8 As shown, the data analysis submodule analyzes the command and control information and navigation information received at different communication frequencies. According to the provisions of the communication protocol, it determines whether the command and control information and navigation information are in a normal, fault, or interrupted state. The normal state indicator is green, the fault state indicator is yellow, and the communication interruption state indicator is gray.

[0076] Combination Figure 9 As shown, the data analysis display button allows real-time viewing of the raw data curves of the underwater motion platform's position, azimuth, speed, and heading. Moving the mouse allows you to obtain data point information within the curve; the mouse wheel and left mouse button allow you to zoom in, zoom out, and pan the curve; right-clicking the curve or legend allows you to hide or show the selected curve; the follow button in the toolbar enables adaptive curve display.

[0077] The S400 data processing submodule processes the raw data and data analysis results of the received command and control information and navigation information. If there are any missing or invalid data in the received raw data, the dead reckoning unit will analyze the previously received historical data and predict the missing data, including azimuth, position, heading, and speed information of the underwater platform. The data smoothing unit will smooth the azimuth information in the command and control information according to the characteristics of the seabed environment and sonar equipment. At the same time, considering the kinematic and dynamic characteristics of the underwater platform, it will smooth the fluctuation of azimuth during the turning process.

[0078] Specifically, it includes:

[0079] Includes the following steps:

[0080] S100. Determine the window width WSIZE of the sliding filter window and the Gaussian filter variance σ;

[0081] S200: Store the current heading and azimuth data in the sliding filter window;

[0082] S300. Calculate the mean and variance of the azimuth data in the current sliding filter window, and judge and filter out the wild azimuth values ​​according to the three sigma criterion.

[0083] The method for determining azimuth field values ​​based on the three Sigma criterion is as follows:

[0084] The mean azimuth angle within the sliding filter window is calculated to be μ. b The variance is σ b Assuming the azimuth data distribution follows a normal distribution, then:

[0085] Azimuth values ​​are distributed in (μb -σ b ,μ b +σ b The probability of finding the answer is 0.6826.

[0086] Azimuth values ​​are distributed in (μ b -2σ b ,μ b +2σ b The probability in () is 0.9544;

[0087] Azimuth values ​​are distributed in (μ b -3σ b ,μ b +3σ b The probability in () is 0.9974;

[0088] Therefore, it can be assumed that the values ​​of the azimuth angle are concentrated in (μ). b -3σ b ,μ b +3σ b Within the specified range, azimuth array values ​​outside this range are considered outliers.

[0089] S400. Calculate the heading change rate of the current sliding filter window, perform chi-square detection on the heading change rate to determine the heading maneuver segment, and backtrack the azimuth data within the heading maneuver segment.

[0090] The method for determining the heading maneuver segment is as follows:

[0091] The mean heading angle within the sliding filter window is calculated to be μ. h The variance is σ h After taking n shots of heading angle data from the sliding filter window, perform a chi-square test (n < WSIZE) and calculate the chi-square statistic:

[0092]

[0093] when At that time, it is assumed that the heading angle data after n frames of the sliding filter window is within the heading maneuver segment, and it is necessary to backtrack the azimuth angle data;

[0094] S500. Perform Gaussian filtering on the azimuth data in the sliding filter window. The Gaussian filtering method is as follows:

[0095]

[0096] Where g(x) represents the weighted value of the azimuth angle data that is x frames away from the current point within the filtering window, WSIZE represents the filtering window width, σ represents the Gaussian filtering variance, and D(k) represents the azimuth angle data of the kth frame.

[0097] S600: Outputs smoothed azimuth data;

[0098] S700. Determine whether the smoothing process has ended. If not, repeat steps S200 to S700 until the smoothing process is completed.

[0099] Preferably, the outlier filtering method in step S300 and the azimuth data backtracking method in step S400 are both:

[0100] Take the effective azimuth angle data m times before and after the azimuth angle data to be filtered or backtracked, and perform least squares regression. The basic idea of ​​least squares regression is to minimize the sum of squared residuals between the true and predicted values ​​by determining the unknown parameters. Assume the fitting function is: h θ (x) = θ0 + θ1x, where θ0 is the intercept term and θ1 is the fitting coefficient; the residual sum of squares J(θ0,θ1) can be expressed as:

[0101]

[0102] Among them, y i Given the azimuth data for the i-th time step, to minimize the sum of squared residuals, we can treat the sum of squared residuals as a multivariate function, taking the partial derivatives with respect to θ0 and θ1 respectively, and setting the partial derivatives to 0, we get:

[0103]

[0104] The two equations combined yield:

[0105]

[0106]

[0107] h is calculated based on the fitting function. θ (x) = θ0 + θ1x, replacing invalid values ​​of the azimuth angle.

[0108] Combination Figure 10 As shown, the smoothing result display button allows you to view the curves of the original azimuth data and the smoothed azimuth data in real time. You can obtain data point information in the curve by moving the mouse. You can zoom in, zoom out and pan the curve by using the mouse wheel and left mouse button. You can hide or show the selected curve by right-clicking the curve or legend. The follow button in the toolbar enables the curve to adapt to the display function.

[0109] The S500 target calculation submodule receives raw data from command and control information and navigation information, as well as smoothed data sent by the data processing submodule. By clicking the calculation result display button on the main interface, a new window can pop up to display the distance curve, speed curve, and heading curve in real time.

[0110] Combination Figure 11 As shown, its interface operation logic is similar to the smoothing result display interface. Moving the mouse allows you to obtain data point information in the curve; the mouse wheel and left mouse button allow you to zoom in, zoom out, and translate the curve; right-clicking the curve or legend allows you to hide or show the selected curve; the follow button in the toolbar enables adaptive curve display; the simulation display unit in the main interface dynamically displays the situation information of the underwater platform and target in real time through a two-dimensional screen, and its trajectory is also generated in real time; dragging is enabled by the left mouse button; zooming is enabled by using the Ctrl key and mouse wheel.

[0111] S600: Determine whether the cumulative time of interruption of the command and control information is lower than the preset threshold. If it is lower, continue to step S700; if it is not lower, the test ends.

[0112] S700. Determine whether a target switching instruction has been received. If yes, the experiment ends. If target true data exists, the evaluation results can be viewed at this time. If not, proceed to step S200.

[0113] Combination Figure 6 As shown, the main interface of the human-computer interaction module includes four buttons: "Initial Filter Value Setting," "State Estimation Setting," "All Solution Results," and "Reset Button," as well as a "Communication Interruption Limit" input box. Figure 12 and Figure 13 As shown, clicking the "Initial Filter Settings" and "State Estimation Settings" buttons allows manual input of target distance, target velocity, target heading, range covariance, velocity covariance, and observation noise covariance; combined with Figure 14 As shown, clicking the "All Results" button displays the results of all methods integrated into the solution system in a table format, including information such as the target's distance, heading, speed, and position. Clicking the "Reset" button resets all data in the system to default values ​​and waits for the experiment to start again. Clicking the "Communication Interruption Limit" input box allows you to manually enter the interruption limit threshold and press Enter to confirm the input value. Alternatively, you can quickly adjust the interruption limit threshold by clicking the button on the right side of the input box in 5-second increments.

[0114] Combination Figure 15As shown, the system monitoring module is used to safeguard the normal operation of the solution system. When the solution system is opened, the system monitoring module will record and monitor the current operating status of the solution system in real time. If data abnormalities are found during the calculation process, the corresponding data status values ​​will be set to invalid. If the solution system crashes due to instability or external factors, the system monitoring module will record the status information of each module, submodule and unit of the system and save the data, and then immediately restart the solution system to ensure the normal progress of the solution process in this experiment.

[0115] The other combinations and connections in this implementation scheme are the same as in Specific Implementation Scheme 1.

[0116] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A target motion element calculation system for underwater motion platforms, characterized in that: It includes a network communication module, a system computing module, a human-computer interaction module, and a system monitoring module. The network communication module is used for real-time communication, including receiving command and control information and navigation information sent in real time, and sending the received raw information to the system computing module; The system computing module is used to perform data interpolation and smoothing on the command and control information and navigation information received in real time through the network communication module, and then draw curves for real-time display, including analyzing and displaying recommended course information and predicting target situation information after losing the shot after combining historical course data; The system's computing module includes a data analysis submodule, a data processing submodule, and a target calculation submodule. The data analysis submodule is used to receive data in real time, plot the received command and control information and navigation information into curves for real-time display, analyze and evaluate the results based on the received real-time data, generate a heading suggestion display from the analysis and evaluation results, and send the analysis and evaluation results to the data processing submodule and the target calculation submodule. The data processing submodule is used to receive data in real time and process the received data according to the analysis and evaluation results of the data analysis submodule. This includes predicting, interpolating, and smoothing the location information of the lost image, as well as predicting the target situation information after the lost image. The situation information includes azimuth, position coordinates, heading, and speed. The target calculation submodule is used to calculate the distance, speed, and heading of the target according to the scene configuration, the underwater motion platform situation information, and the target location information, and to store and demonstrate the target calculation results. The human-computer interaction module is used to realize the interaction function between the operator and the solution system, including inputting parameters on the display interface, obtaining evaluation results and real-time data; The system monitoring module is used to ensure the normal operation of the calculation system.

2. The target motion element calculation system for an underwater motion platform according to claim 1, characterized in that: The network communication module includes a command and control information and navigation information data receiving submodule, a command and control information and navigation information network status display submodule, and a target motion element calculation result sending submodule. The command and control information and navigation information data receiving submodule is used to decode the command and control information and navigation information and send it to the system calculation module; the command and control information and navigation information network status display submodule is used to display the analysis results of the system calculation module in a graphical manner; the target motion element calculation result sending submodule is used to send the target motion elements calculated by the system calculation module to the evaluation system for result evaluation.

3. The target motion element calculation system for an underwater motion platform according to claim 2, characterized in that: The data analysis submodule includes a command and control information and navigation information analysis and evaluation unit, an underwater motion platform heading suggestion unit, and a command and control information and navigation information curve display unit.

4. The target motion element calculation system for an underwater motion platform according to claim 3, characterized in that: The command and control information and navigation information analysis and evaluation unit is used to evaluate the received real-time data, taking into account factors such as azimuth noise and network communication fluctuation interference. The evaluation results include the length, validity and rationality of the data. The analysis and evaluation results are then sent to the underwater motion platform heading suggestion unit, the command and control information and navigation information curve display unit, the data processing submodule and the target calculation submodule. The underwater motion platform heading suggestion unit combines the evaluation results of the data analysis submodule with the historical heading data of the underwater motion platform to provide recommended heading information on the main interface; The command and control information and navigation information curve display unit is used to plot the data sent by the command and control information and navigation information analysis and evaluation unit into curves and display them in real time.

5. A target motion element calculation system for an underwater motion platform according to claim 4, characterized in that: The data processing submodule includes a data interpolation unit, a dead reckoning unit, a data smoothing unit, and a smoothing result display unit. The data interpolation unit is used to interpolate the azimuth data transmitted from the dead reckoning unit to ensure that the interpolated azimuth data matches the position, heading and speed information in the navigation data. The dead reckoning unit is used to analyze previously received historical data and predict the lost data, including situational information, when the command and control information and navigation information analysis and evaluation unit indicates that there is a loss of command and control information and navigation information. The data smoothing unit is used to smooth the received azimuth information and draw it into a curve using a real-time smoothing algorithm with backtracking function, and then send it to the smoothing result display unit and the target solution submodule. The smoothing result display unit is used to display the smoothed data curve, and it is displayed simultaneously with the original data.

6. The target motion element calculation system for an underwater motion platform according to claim 5, characterized in that: The target solution submodule includes a target solution result evaluation unit, a target solution storage unit, and a simulation and display unit. The target calculation result evaluation unit is used to calculate the distance, speed and heading of the target based on the detection scenario configuration, the underwater motion platform situation information and the target orientation information, and send the target calculation result to the target calculation result storage unit, the simulation and display unit and the evaluation station; The target solution storage unit is used to classify the solution results of the target solution result evaluation unit according to different solution methods and store them in a text document in real time. The simulation and display unit is used to display the two-dimensional target detection and tracking environment during the simulation process, and to display the underwater motion platform status and target status calculation results and target route simulation during the target tracking scenario simulation.

7. A target motion element calculation system for an underwater motion platform according to claim 6, characterized in that: The main interface of the human-computer interaction module includes four buttons: filter initial value setting, state estimation setting, all solution results, and reset button, as well as a communication interruption upper limit input box.

8. The target motion element calculation system for an underwater motion platform according to claim 7, characterized in that: When the solution system is opened, the system monitoring module records and monitors the current running status of the solution system in real time. When data abnormalities are found during the calculation process, the system monitoring module sets the corresponding data status value to invalid. When the solution system crashes due to instability or external factors, the system monitoring module records the status information of each module, submodule and unit of the current system and saves the data, and then immediately restarts the solution system.

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