水下无人系统学报2024，Vol.32Issue(2)：250-259,10.DOI:10.11993/j.issn.2096-3920.2024-0050
基于边界约束粒子滤波的多UUV纯方位协同目标跟踪
Multi-UUV Collaborative Bearing-only Target Tracking Based on Boundary Constrained Particle Filter
摘要
Abstract
Due to the difficulties of filter initialization and packet loss in underwater acoustic data transmission faced by existing bearing-only target tracking algorithms,a multi-unmanned undersea vehicle(UUV)collaborative bearing-only target tracking algorithm based on boundary constrained particle filter was proposed,so as to meet the demand for multi-UUV collaborative detection of water surface targets in cross-domain collaboration at sea.Firstly,a master-slave collaborative detection model was proposed,which utilized the follower to report the state estimation results to the navigator for data fusion.Secondly,based on the prior information of UUV sensors and targets,a reliable particle generation method for the initial stage and a particle weight optimization method for the indicator function in the update stage were designed.Finally,a distributed fusion algorithm based on gray prediction was proposed to obtain the target prediction results.The simulation experiment compared this algorithm with other common algorithms and verified its effectiveness and feasibility under communication packet loss and noise interference.关键词
无人水下航行器/纯方位目标跟踪/粒子滤波/协同探测/数据融合Key words
unmanned undersea vehicle/bearing-only target tracking/particle filter/collaboration detection/data fusion分类
军事科技引用本文复制引用
韩博,徐红丽,邱少雄,张文睿,茹敬雨..基于边界约束粒子滤波的多UUV纯方位协同目标跟踪[J].水下无人系统学报,2024,32(2):250-259,10.基金项目
装备预先研究共用技术项目资助(50911020604) （50911020604）
国家自然科学基金青年科学基金项目(62303099). （62303099）
