Aiming at target tracking of the constant acceleration movement in the water,the observed bearings of two sonar arrays as well as the observed target frequency of one array are combined to carry out the observed fuse, the constant acceleration target tracking system based on bearings-frequency of two sonar arrays as well as the state equation of constant acceleration movement is established. For the nonlinear character of the system, nonlinear filtering algorithm for is applied to estimate the state of constant acceleration target based on the observed values, and then an algorithm for constant acceleration target tracking based on bearing-frequency of two sonar arrays is put forward. After the pseudo linear processing is applied on the observable equation of tracking system, the observed condition of judging for linear system is applied to this tracking system; the observed condition of judging for this system can be obtained. After adding the observed frequency, the observability is improved. The validities of this algorithm as well as the observed condition of judging are verified by simulations.%针对水中匀加速运动目标的跟踪,将两部声纳基阵量测的目标方位信息和其中一部声纳基阵量测的目标频率信息作观测融合后,根据匀加速运动状态方程,建立双基阵方位-频率匀加速运动目标跟踪系统.对于系统的非线性性,根据量测值应用非线性滤波算法对匀加速运动目标进行状态估计,从而提出了一种双基阵方位-频率匀加速运动目标跟踪算法.将系统的观测方程伪线性化,应用线性系统可观测性判定定理对系统的可观测性进行分析,得到了该系统的可观测性判定条件.仿真验证了算法的有效性与可观测性判定条件的正确性.
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