直角坐标系下的水下被动目标跟踪自适应卡尔曼滤波算法 - 声学技术.pdf

23 3 Vol. 23, No. 3 2004 9 Technical Acoustics Sept. , 2004 石章松, 王树宗, 刘 忠 ( , 430033) : , , , , , , , , , , : ; ; : O211 : A : 1000-3 30( 2004) 03-0173-05 An adaptive Kalman filter algorithm used in the underwater passive target tracking in a Cartesian coordinate system SHI Zhang-song, WANG Shu-zong, LIU Zhong (Department of Weaponry Engineering, Naval University of Engineering, Wuhan 430033, China) Abstract: Taking into account the instability and low accuracy of passive filters in bearings-only target track- ing, a modified polar coordinate adaptive extended Kalman filter ( MPAEKF) algorithm is presented. Virtual noise is estimated, and errors due to linearization are dynamically compensated for so that the system. s obser- vation error is reduced. The filtering theory and the algorithm are studied. Simulation results show that MPAEKF can improve the filter convergence and accuracy. Key words: passive target tracking; adaptive filtering; virtual noise EKF 1 , , , , , , , , , ( EKF , ) , ( Extended Kalman , , Filter, EKF) Ad- , , , lara , , , [ 1]