The invention belongs to the technical field of
underwater acoustic
signal processing, and particularly relates to an active
sonar man-
machine cooperation multi-target tracking method. Comprising the following steps: carrying out balanced denoising
processing on
background noise, and automatically detecting a threshold value to obtain
azimuth and distance information of a target; meanwhile, the
detection threshold value is manually adjusted through manual intervention; establishing a track for the detection point through an automatic
algorithm and distributing a track ID; meanwhile, through manual intervention, suspected target points are manually recorded; calculating the proximity of each detection point and each track through an automatic
algorithm, and carrying out track association according to a proximity matrix; meanwhile, through manual intervention, track ID affiliation is manually corrected; according to the invention, a
hybrid tracking mode of'automatic-based and manual-assisted 'is formed, a full-automatic tracking
algorithm is used for
processing a conventional process, an abnormal decision is manually intervened, a high-reliability man-
machine cooperative active
sonar target
tracking system is established, and the tracking robustness in a complex environment is improved by dynamically switching a manual / automatic mode.