The invention provides a multi-UUV (
Unmanned Underwater Vehicle) cooperative
system underwater target tracking
algorithm for a
fuzzy adaptive interacting multiple model (FAIMM). Firstly, according to the bearing-only target tracking principle of the multi-UUV cooperative
system, a discrete nonlinear state and observation equation for the target
tracking system is built; then, according to the characteristics of
underwater target motion, in combination of five kinds of target motion
modes, analysis is carried out according to the dynamic
state transition matrix, the coupled inequality relation among the five
modes is put forward, and a
motion mode set adapted to
underwater target tracking is selected optimally; then, an intermediate Gauss
distribution function is adopted as a
membership function, a mode probability is used as an evaluation index for filter information and corresponding
covariance acquired by each mode, and
fuzzy reasoning for the mode transition probability is designed; and finally, the FAIMM
algorithm is designed and realized. During the multi-UUV cooperative
system bearing-only target tracking process, the least number of target motion sets is selected,
adaptive change of the mode transition probability is realized through the
fuzzy reasoning, disordered competition among the
modes are reduced, the filter accuracy is higher, and demands of multi-UUV cooperative system underwater target tracking can be met.