针对非平稳频率方位量测的水下目标定距技术

侯翔昊; 郑佳瑞; 谷新禹; 杨益新

doi:10.11990/jheu.202506004

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针对非平稳频率方位量测的水下目标定距技术

论文 | 更新时间：2026-03-31

- 针对非平稳频率方位量测的水下目标定距技术
- Underwater target ranging technique based on nonstationary frequency-azimuth measurements
- 哈尔滨工程大学学报 2025年46卷第8期页码：1547-1556
- 作者机构：
  
  1.西北工业大学航海学院, 陕西西安 710072
  2.杭州应用声学研究所，浙江杭州 310023
- 作者简介：
  
  [ "侯翔昊, 男, 副教授,博士" ]
  [ "杨益新，男，教授，博士生导师" ]
- 基金信息：
  
  国家自然科学基金重点项目(62431023);水声技术全国重点实验室稳定支持计划(JCKYS2022604SSJS010)
- DOI：10.11990/jheu.202506004
  中图分类号： TB566
- 收稿：2025-06-04，
  
  网络首发：2025-06-23，
  
  纸质出版：2025-08-05
- 稿件说明：
移动端阅览
侯翔昊, 郑佳瑞, 谷新禹, 等. 针对非平稳频率方位量测的水下目标定距技术[J]. 哈尔滨工程大学学报, 2025,46(8):1547-1556.

Xianghao HOU, Jiarui ZHENG, Xinyu GU, et al. Underwater target ranging technique based on nonstationary frequency-azimuth measurements[J]. Journal of Harbin Engineering University, 2025, 46(8): 1547-1556.
侯翔昊, 郑佳瑞, 谷新禹, 等. 针对非平稳频率方位量测的水下目标定距技术[J]. 哈尔滨工程大学学报, 2025,46(8):1547-1556. DOI： 10.11990/jheu.202506004.

Xianghao HOU, Jiarui ZHENG, Xinyu GU, et al. Underwater target ranging technique based on nonstationary frequency-azimuth measurements[J]. Journal of Harbin Engineering University, 2025, 46(8): 1547-1556. DOI： 10.11990/jheu.202506004.

摘要

针对水下环境中量测噪声的非平稳及统计特性未知等问题，本文在典型水下目标跟踪场景下，提出一种融合运动变化约束与自适应噪声估计的量测异常检测与修正机制。结合水下无人潜航器低速航行的运动特性，构建运动模型并引入基于新息分析的动态阈值策略，实现对突发量测异常的实时判别与修正。为增强滤波器在噪声未知环境中的适应能力，进一步引入了Sage-Husa(SH)算法解决噪声未知的问题，在动态环境中自适应调整量测噪声。经仿真与实测结果验证:所提方法与传统方法相比测距误差降低13.16%，表明其在量测噪声非平稳下具备更强的稳健性与适应性。

Abstract

To address the challenges of nonstationary measurement noise and unknown statistical characteristics in underwater environments

a measurement anomaly detection and correction mechanism that integrates motion variation constraints with adaptive noise estimation was developed. Given that autonomous underwater vehicles are characterized by low-speed navigation

a motion model was constructed and a dynamic thresholding strategy based on innovation analysis was introduced to enable real-time identification and correction of abrupt measurement anomalies. The Sage-Husa algorithm was also incorporated to enhance the adaptability of the filter to environments with unknown noise statistics

allowing online adjustment of the measurement noise under dynamic conditions. Both simulation and experimental results demonstrate that the proposed method achieves a 13.16% reduction in ranging error compared to the traditional approach

indicating enhanced robustness and adaptability undernon-stationary measurement noise conditions.

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