Research On Recursive Instrumental Variable Kalman Filtering Alogrithm For Underwater Target Tracking

Underwater target tracking is one of the most active research fields in recent years,there are important applications in both military and civilian fields.In the civilian field,it mainly involves the tracking of endangered aquatic organisms,locating fish shoals,salvage and rescue,locating and identifying submarine targets,etc.In the military field,it mainly involves the detection and tracking of underwater objects such as mines and submarines.Many challenges are faced in the underwater target tracking due to the complex and variable underwater environment(such as acoustic medium constraints and heterogeneity)and underwater signal acquisition,transmission and processing costs and other factors,the available underwater data is often not accurate.How to improve the accuracy and rapidity of tracking,reduce the cost of calculation and communication,and reduce the complexity of the model are the key problems that need to be solved urgently.In this paper,the modeling,linearization,error analysis and processing,tracking accuracy and other issues of underwater target tracking process are studied as follows:Firstly,the underwater target tracking process is modeled,and the nonlinear terms in the model are found and linearized,where the pseudo linearization method is adopted.After pseudo linearization,the deviation of tracking process is analyzed and the reason of deviation is obtained.Secondly,the problem of bearings-only underwater target tracking is studied,the model of bearings-only underwater target tracking is established,and the existing pseudo-linear filtering algorithm is analyzed.The bias compensation algorithm is applied,and then the recursive instrument variable kalman filtering algorithm is proposed to solve the problems existing in the previous algorithm.However,when the underwater noise is too large,the proposed recursive instrument variable kalman filter algorithm will also show some tracking bias.In order to solve this problem,an threshold selection strategy is proposed.Thirdly,underwater target tracking based on bearings-only is extended to the underwater target tracking based on hybrid measurement,underwater target are tracked by hybrid measurement including angle of arrival,time difference of arrival and frequency difference of arrival measurements.Handling by azimuth replacement to eliminate redundant variables in time difference of arrival and frequency difference of arrival measurements,and the problem becomes the problem of azimuth.And the proposed recursive instrumental variable kalman filtering algorithm is used in this process,based on the recursice of estimated value and the measured value to eliminate bias,getting a better tracking performance.Finally,the feasibility and effectiveness are verified by MATLAB simulation.