Research On Tracking Of The Moving Object Underwater Based On MAD

The target magnetic detection technology based on MAD, taking the natural earth magnetic field as the background, now mainly was used in the military research domain such as the tracking of the porpedo and submarine, which has filled up the deficiencies of the passive character of the traditional sonar and the poor hiding ability. Our country was still at the initial stage in this domain's application .In this paper, the magnetic signal vector obtained by target detection based on magnetic anomaly signal was adopted to realize ferromagnetic moving target's tracking. This topic's research had a great importance on target location of the moving object underwater in our country.At first, we discussed the paper's related research domains and the technology of magnetic anomaly detection, and then we proposed an improved Robust Position algorithm based on researching several distributed location algorithms. The new algorithm overcame the shortcomings of the slower coverage speed and larger energy consumption. The weighted least square method was used to reduce the accumulated errors in the iterative process. The results showed that the average position error was about 36% under the condition of 20% anchor node proportion and 20% range error. It could meet the designing request. Last a kind of magnetic sensor network based on prediction model was proposed to track the moving object, which took the cooperative group as the tracking unit. This design had a strong robustness to the partial node expiration. The simulation result showed that when the nodes had very strong location ability and the sampling frequency was set greatly high, this prediction model based on a straight line took on an extreme good tracking effect.