基于角度滤波与转换量测的主动声呐跟踪研究

杜扬凡; 张文; 赵宣植; 刘增力; 刘康

doi:10.11990/jheu.202506015

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基于角度滤波与转换量测的主动声呐跟踪研究

论文 | 更新时间：2026-03-31

- 基于角度滤波与转换量测的主动声呐跟踪研究
- Active sonar tracking based on bearing filter and converted measurement
- 哈尔滨工程大学学报 2025年46卷第8期页码：1625-1634
- 作者机构：
  
  1.昆明理工大学信息工程与自动化学院, 云南昆明 650504
  2.南方科技大学环境科学与工程学院, 广东深圳 518055
- 作者简介：
  
  [ "杜扬凡，男，硕士研究生" ]
  [ "赵宣植，男，讲师，博士" ]
- 基金信息：
  
  国防科技重点实验室基金项目(2023JCJQLB3301);国家自然科学基金项目(61271007)
- DOI：10.11990/jheu.202506015
  中图分类号： TB566
- 收稿：2025-06-07，
  
  网络首发：2025-06-24，
  
  纸质出版：2025-08-05
- 稿件说明：
移动端阅览
杜扬凡, 张文, 赵宣植, 等. 基于角度滤波与转换量测的主动声呐跟踪研究[J]. 哈尔滨工程大学学报, 2025,46(8):1625-1634.

Yangfan DU, Wen ZHANG, Xuanzhi ZHAO, et al. Active sonar tracking based on bearing filter and converted measurement[J]. Journal of Harbin Engineering University, 2025, 46(8): 1625-1634.
杜扬凡, 张文, 赵宣植, 等. 基于角度滤波与转换量测的主动声呐跟踪研究[J]. 哈尔滨工程大学学报, 2025,46(8):1625-1634. DOI： 10.11990/jheu.202506015.

Yangfan DU, Wen ZHANG, Xuanzhi ZHAO, et al. Active sonar tracking based on bearing filter and converted measurement[J]. Journal of Harbin Engineering University, 2025, 46(8): 1625-1634. DOI： 10.11990/jheu.202506015.

摘要

针对主动声呐跟踪中多普勒量测与目标运动状态间非线性关系复杂、自由度不匹配的问题，本文提出一种基于角度滤波与4变量转换量测的主动声呐跟踪方法。首先，设计线性结构角度滤波器，通过最小方差准则融合角度量测与状态预测，提供高精度的角速度伪量测；其次，结合声呐原始量测(距离、方位角、径向速度)与角速度伪量测，构建4维增广量测向量，提出4变量多普勒转换量测方法，将极坐标系量测无偏转换至笛卡尔坐标系，解决自由度不足问题；最后，利用线性卡尔曼滤波实现状态更新，形成角度滤波与状态滤波的双重交互结构。仿真结果表明，相比现有算法，所提方法在目标慢速机动或转弯时具有更高的估计精度和一致性，有效降低了非线性近似误差，提升了多普勒信息利用率。所提方法为同时保证量测转换的无偏性和协方差的准确性提供了思路，具有较高的实际应用潜力。

Abstract

Aiming to address the intricate nonlinear relationship and the disparity in degrees of freedom between Doppler measurements and target motion states in active sonar tracking

this study proposes a tracking method based on bearing filtering and four-variable converted measurement. Initially

a linear structure bearing filter is engineered to amalgamate bearing measurements and state predictions employing the minimum variance criterion

producing high-precision bearing rate pseudomeasurements. Secondly

the integration of the original sonar measurements (range

bearing

and radial velocity) with the bearing rate pseudomeasurements results in the construction of a four-dimensional augmented measurement vector. A four-variable Doppler conversion measurement method is proposed to unbiasedly convert polar coordinate measurements into Cartesian coordinates

addressing the issue of insufficient degrees of freedom. Linear Kalman filtering is employed to facilitate state updates

establishing an interactive dual-filter structure for bearing and motion states in Cartesian coordinates. The simulation results indicate that

in comparison with existing algorithms

during slow maneuvers or target turning

the proposed method achieves higher estimation accuracy and consistency

effectively reducing nonlinear approximation errors and enhancing the utilization of Doppler information. The proposed methodology establishes a novel framework for ensuring both the unbiasedness of measurement conversion and the precision of covariance estimation

demonstrating considerable potential for practical applications.

关键词

Keywords

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