The application discloses a kind of
underwater target tracking methods based on multivariate
skew laplace distribution modeling, the motion state data of
underwater target is collected using the mode of
sonar sensor, and the target position measurement information is obtained by the mode of coordinate
system conversion;
Underwater target motion model is established, the
state space equation of
underwater target is determined, the mathematical characteristics of
underwater noise are analyzed, and the measurement model of target under non-
gaussian noise is established;Based on multivariate
skew laplace distribution, the non-
gaussian noise is modeled, the mixed parameters, shape parameters and scale matrix of
noise are solved under the variational
bayesian framework, the target state and noise
covariance matrix are iteratively updated, and the target motion state is iteratively updated using Kalman filtering
estimation, after the iteration number, the estimated value of underwater target position and speed and the estimated value of
covariance matrix are output.The application has better robustness and
estimation accuracy, and does not need to select the degree of freedom parameter, and can be better applied to the tracking of target.