改进的自适应Kalman滤波及其在水声机动目标跟踪中的应用

针对在水声机动目标定位跟踪领域广泛应用的传统Kalman滤波往往难以实现机动目标运动方向突变情况下的有效跟踪问题,本文通过分析传统Kalman滤波性能下降时机动目标的运动轨迹,并由此根据机动目标运动方向变化量来产生自适应因子以调整Kalman增益。数值仿真和实际海试数据验证表明,本文所提改进的自适应Kalman滤波在机动目标跟踪中不仅能够快速响应机动目标的运动方向突变,而且目标位置跟踪误差较传统方法显著减小,具有稳定、快速的跟踪性能。

Improved adaptive Kalman filtering and its application in acoustic maneuvering target tracking

Kalman filtering is widely used in acoustic maneuvering target tracking. However, conventional Kalman filtering always fails to track the maneuvering target when there is a sudden change in the target movement direction. In this paper, an adaptive factor to adjust the Kalman gain is generated based on the changed movement direction of the acoustic maneuvering target. Numerical simulation and sea trial results show that the proposed adaptive Kalman filtering can not only quickly respond to the sudden change of target movement direction, but also has smaller position tracking errors in comparison with the conventional Kalman filtering, and furthermore, it has good stability and fast convergence.