Underwater Target Motion Analysis Technology With Single Base Array Bearing-only

Driven by the demand of underwater acoustic offensive and defensive operations,passive detection technology is developing continuously.Among them,the passive detection technology of single array can realize the azimuth estimation of the target,but it cannot effectively estimate the target distance.Therefore,the joint estimation of azimuth and range should be realized by the bearings-only target motion analysis(BOTMA)of single array,which is of great significance for underwater offensive and defensive operations.This paper in view of single-base array of bearing-only under the condition of the demand of the TMA,movement at a constant speed of underwater target and maneuvering TMA technology research,in two-dimensional space and three-dimensional space,respectively,the Lagrangian extremum algorithm and the least square deviation compensation algorithm are derived for the uniform linear motion target,and the pseudo-linear Kalman filter deviation compensation algorithm is derived for the low-speed and slow-turn motion target.At the same time,a method for setting the initial value of the Kalman filter is proposed,and a quasi-Newton iterative positioning algorithm using spatial azimuth information is proposed for the fixed target positioning problem in a three-dimensional environment.The feasibility of the algorithm is verified by computer simulation.The study shows that the Lagrangian extremum algorithm and the least square deviation compensation algorithm have better performance in the background of lower measurement noise when the state is estimated for the uniform linear moving target.The robustness of the Lagrangian extremum algorithm is higher,and the running time is less.The sequential implementation method can further improve the computational efficiency of the Lagrangian extremum algorithm.When estimating the state of a low-speed and slow-turning maneuvering target,under the background of low noise,the pseudo-linear Kalman filter deviation compensation algorithm has a high estimation accuracy,and can track the target trajectory.When positioning a fixed target in a three-dimensional environment,the proposed quasi-Newton iterative algorithm using spatial azimuth information can realize the positioning of the target,and measure the noise background at different azimuth angles,different sounding errors,and the observation platform straight-line navigation situation effective positioning can be achieved in all downloads,and the algorithm is robust and has practical significance.The performance of the algorithm is further analyzed through the lake test data processing.The Lagrangian extremum algorithm has advantages over the least squares deviation compensation algorithm when analyzing the motion of a uniform straight line target.The pseudo-linear Kalman filter deviation compensation algorithm can solve the low speed and slow steering TMA problem.The research results of this paper can provide reference for actual underwater TMA.