Research On DOA Estimation And Tracking Method Of Maneuvering Target Based On Acoustic Vector Sensor Array

Acoustic Vector Sensor(AVS)can synchronously pick up sound pressure and particle velocity information in the sound field.It is widely used in underwater target detection and positioning field.It's one of the research hotspots of the underwater acoustic field and array signal processing.The spatial spectrum estimation algorithm based on the target static hypothesis and the traditional particle filter algorithm based on the assumption of slowly changing direction of arrival(DOA)are the main research directions in the field of acoustic vector array signal processing.However,In the actual environment,the target usually moves,also the target DOA shows a trend of rapid changing and strong non-linearity.Especially in the current situation that the underwater target speed is increasing and the maneuvering performance is improving,the performance of the traditional spatial spectrum estimation algorithm is drastically reduced even failed.With the increasingly fierce competition of marine resources,the increasing demand for marine resources development and the increasing demand for marine combat capability,it is of great value and significance to study a DOA tracking method for maneuvering target.This paper mainly studies the DOA tracking method for maneuvering targets based on acoustic vector arrays.The main research results obtained are as follows:(1)Aiming at the similarities and differences between DOA tracking and target tracking,this paper analyzes the causes of rapid changing and strong non-linearity of DOA.By defining two parameters of DOA rate and nonlinearity,we can quantitatively describe the rapidity and nonlinearity of DOA;Then the constant speed,constant acceleration and "current" statistical model of the target DOA are established;Also,according to the analysis of the underwater target motion patterns,two typical scenes are simulated to simulate the actual movement,then the changing of DOA are analyzed.(2)In this paper,a DOA estimation algorithm based on eigen space is studied.Combining with the traditional particle filter algorithm,the particle filter based on Eigen Space is proposed by the method of constructing the likelihood function of particle filter for weight updating.On the basis of this,combining it with constant velocity model models,constant acceleration model and "current" statistics model,the eigen space particle filter base on single model DOA tracking algorithm is formed.Compared with the traditional CV model-based particle filter algorithms,this algorithm has the advantages of high tracking accuracy and real-time performance,and it still has high tracking precision in small snapshot and low SNR.(3)In view of the fast change and strong nonlinearity of DOA,a eigen space particle filter DOA tracking algorithm based on the adaptive CV model is proposed on the basis of the analysis of the performance of the motion model.The algorithm still maintains high tracking precision in the case of fast change and strong nonlinearity of DOA.At the same time,it also has good universality for the slow change of DOA and the weak nonlinearity,and has the advantages of strong adaptability and good real-time performance.(4)In the framework of the traditional interactive multi model algorithm,this paper uses the space particle filter algorithm as filters,constructs the CV+CA model set,then proposes an improved scheme for updating the model probability to form the IMM-based eigen space particle filter DOA tracking algorithm which is suitable for DOA tracking based on acoustic vector arrays;The algorithm has a good universality for different DOA changes,the tracking precision is high,and the adaptability of the motion style is strong.The theoretical analysis and simulation experiments prove the effectiveness of the algorithm.Both theoretical analysis and simulation results demonstrate that the proposed algorithms can achieve real-time dynamic tracking of maneuvering target DOA.Compared to the conventional particle filter based CV model algorithms.The ESPF-adp CV algorithm and the ESPF-IMM algorithm proposed in this paper still have high tracking accuracy in the case of fast DOA changes and strong non-linearity.The real-time dynamic tracking of the maneuvering target DOA is completed..