基于IMMKF-3D的水下目标跟踪算法

摘要

In order to realize accurate tracking of underwater maneuvering targets, an IMMKF-3D tracking algorithm was proposed. With input interaction, Kalman filtering, probabilities updating, output interaction and other steps, IMMKF-3D algorithm which is in use of IMM technology can be adopted to match possible states of turning, acceleration, deceleration, etc., and also, the defect that the traditional Kalman filtering algorithm only applies to non-motorized target tracking could be avoided. Simulation results showed that, under the underwater three-dimensional space of 4000 m×20 000 m×5000 m, the proposed algorithm provided excellent performance in target tracking and strong effectiveness for real-time positioning of targets.%为了实现水下机动目标的精确跟踪，提出了一种IMMKF-3D跟踪算法。该算法利用交互多模型技术，通过输入交互、卡尔曼滤波、概率更新、输出交互等步骤解决水下目标处于机动时可能出现的转弯、加速、减速等状态问题，有效克服了传统卡尔曼滤波算法仅适用于非机动目标跟踪的难题。仿真结果表明，在4000 m×20000 m×5000 m的水下三维空间内，该算法跟踪效果良好，有效实现了对水下机动目标的实时跟踪定位。