A shore-based hydrophone array cooperates with an underwater unmanned vehicle to provide a bearing-only tracking system for underwater targets

By using a shore-based hydrophone array in conjunction with an underwater unmanned vehicle, a pure orientation tracking system for underwater targets was developed, which solved the problems of observability and navigation error of heterogeneous nodes and achieved high-precision continuous tracking of underwater targets.

CN122260230BActive Publication Date: 2026-07-24NORTHEASTERN UNIV CHINA
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Patent Information

Application Number
CN202610747327.8
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2026-05-28
Publication Date
2026-07-24
Estimated Expiration
2046-05-28

AI Technical Summary

Technical Problem

Existing multi-node pure orientation cooperative tracking systems fail to effectively address issues such as insufficient observability of shore-based/seabed hydrophone arrays and heterogeneous nodes of underwater unmanned vehicles, cumulative navigation errors, underwater acoustic communication delays, and false alarm interference, making it difficult to meet the continuous tracking requirements of nearshore underwater targets.

Method used

An underwater target pure orientation tracking system is adopted, which coordinates a shore-based hydrophone array with an underwater unmanned vehicle. Through measurement reliability assessment, heterogeneous spatiotemporal alignment, joint state estimation and quality perception consistency fusion, combined with recursive least squares, particle filtering and interactive multi-model, the observation geometry control is optimized to form a perception-estimation-control closed loop.

Benefits of technology

It significantly improves the overall observability and tracking accuracy of the system, reduces the impact of false alarms and navigation errors, ensures robust operation under harsh underwater communication conditions, and enables continuous tracking of slow-moving underwater targets.

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Abstract

The application discloses a kind of shore base hydrophone array and underwater unmanned vehicle cooperation's underwater target pure bearing tracking system, belong to underwater passive target detection system field, system is by shore base / sea bed hydrophone static node and AUV dynamic node constitute heterogeneous observation network, each node is configured with hydrophone array, positioning and navigation, time synchronization, underwater acoustic communication, storage and processor hardware, processor runs measurement credibility evaluation module, heterogeneous space-time alignment module (fixed delay cache+pose interpolation+forward-backward smoothing), joint state estimation module (RLS+PF+IMM) and quality perception consistency fusion module;AUV node also runs observation geometry optimization control module, system is unified heterogeneous modeling to static node and dynamic node, in false alarm, delay, out of order, packet loss and pose time-varying actual underwater acoustic engineering conditions realize the high-precision, high robustness continuous passive cooperative tracking of underwater slow target.
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