基于扩展量测的球坐标系中水下目标跟踪算法的研究

基于自适应高斯模型，提出了球坐标系中扩展量测的水下目标跟踪，导出了目标模型和目标运动状态的坐标转换公式，推导了基于扩展量测的球坐标系目标跟踪算法，给出了Monte carlo仿真结果。结果表明：本文提出的跟踪算法不但能够提高目标距离的稳态跟踪精度，而且能够提高目标方位角和俯仰角的稳态跟踪精度，改善系统的动态收敛特性。

A New Extending Measurement Algorithm for Tracking Underwater Targets in Spherical Coordinate Systems

A new algorithm is developed in this paper for tracking underwater maneuvering targets in spherical coordinate systems, in which the range rate measurement of maneuvering targets is used to estimate and predict the range, the azimuth angle and the elevation angle of the targets. The transforming expressions of targets maneuvering model and targets maneuvering states are conducted from rectangular coordinate to spherical coordinate. Some Monte Carlo simulations are performed based on the algorithm proposed in this paper. The results show that the algorithm can improve the steady-state estimating accuracy of the range, the azimuth angle and the elevation angle of maneuvering targets, and the result in earlier attainment of steady-state conditions.