Research On The Estimation Method Of Motion Elements For The Underwater Target

The estimation of motion elements for underwater target is the crucial technology that Unmanned Underwater Vehicle(UUV)to perform the task of detection and monitoring for underwater target.For the problem of the noise statistic property is unknown,which leads to traditional nonlinear filtering algorithm declining in accuracy in the estimation of motion elements for the underwater target,this paper makes research on the estimation method of motion elements for the underwater target based on the principle of Kalman Filter and the principle of max change of azimuth.This paper mainly discusses the following aspects:Firstly,we establish the underwater static motion model used for direction finding-cross location and the motion equation and observation equation of underwater uniform and straight-line target under the framework of Kalman Filter.Complete the observability analysis for above mathematical model.Secondly,for the problem of outliers has mutation features in passive detection information of UUV platform and the problem of the noise statistic property is unknown in the high-dimensional and nonlinear underwater target motion system,we put forward a method of passive sonar outliers elimination and a Cubature Kalman Filter with Noise Statistic Property Estimator(CKFNSPE),based on the principle of Time sliding window and the principle of Maximum a posterior(MAP)respectively.Thirdly,in order to improve the estimation precision for underwater motion target,design a UUV maneuver strategy based on the principle of max chang of azimuth.Through the method of Fisher Information Matrix(FIM),under the condition of motor,analyze the influence of UUV movement route for the estimation precision of motion elements for underwater target.Introducting the principle of max chang of azimuth,get the UUV maneuver strategy based on the principle of max chang of azimuth,it can ensure the estimation accuracy of the motion elements for underwater target.Finally,design a typical case,make the simulation experiment of estimation of motion elements for underwater target.The simulation results show that the method of passive sonar outliers elimination and Cubature Kalman Filter with Noise Statistic Property Estimator is Correct and effective and has better fault tolerance.the UUV maneuver strategy based on the principle of max chang of azimuth is reasonable,it can be used in the estimation of motion elements for underwater target and guide to UUV tracking for the underwater target.