基于航速修正处理的单舰被动定位算法

提出一种基于航速修正处理的单舰被动定位算法，在修正增益推广卡尔曼滤波器的基础上，该算法把运动目标舰艇的航道约束当作输出为0的增加的观测数据加入到测量方程，约束的强度由约束条件的噪声方差确定。提出一种规避因子，用来约束目标状态方程中的航速，基本思想是根据当前估计的目标位置和航速，估计了一个针航行到陆地岛礁或即将航行到陆地岛礁时，用规避因子矩阵来修正航速的方向和大小，避免了出现目标航行到陆地岛礁的情况。计算机模拟结果表明，航速修正处理后不会出现穿越陆地岛礁的运动舰艇航透，同时还能提高对海上运动舰艇辐射源的被动定位精度。

A Single Warship Passive Location Algorithm Based on Modified Speed

A single warship passive location algorithm based on modified speed is presented. Using modified gain extending Kalman filter, this algorithm regards the constraints of moving target warship as additional measures, output of which is zero, and adds it to the measure equation; the constraints intensity is decided by the constraints noise variance. A elusion factor is put forward to constrain the target ships speed; the basic idea is to constrain the direction and value of speed with elusion factor when the estimated next period is sailing to land or island according to the present estimated target ships position and speed. It avoids the case of target ship sailing to land or island. Computer simulations results show that this algorithm not only avoids the moving track of target ship sailing cross land or island, but also improves the passive location precision of maritime moving target warship emitter.